Object gripping device

Abstract

To reduce the number of drive sources in comparison to conventional configurations.SOLUTION: There is provided an object gripping device (1) in which a socket part (8) that supports hand parts (11, 51) for gripping an object (9) comprises: a housing section (111) that is supported by a drive part (7); a support section (122) that is rotatably supported by the housing section (111) and detachably supports the hand parts (11, 51); a first transmission part (118) that receives drive from driven parts (114-117), rotates the support section (122) and moves the hand parts (11, 51) in a direction of approaching or away from the object (9); and a second transmission part (119) that receives drive from the driven parts (114-117) and detaches the hand parts (11, 51) from the support section (122), and the drive is transmitted to the second transmission part (119) correspondingly to a period in which the hand parts (11, 51) are detached and the drive is not transmitted to the first transmission part (118).SELECTED DRAWING: Figure 12

Description

Technical Field

[0001] The present invention relates to an object gripping device for gripping an object.

Background Art

[0002] Regarding an object gripping device, also called a robot arm or manipulator, that moves articles displayed on product display shelves in convenience stores, supermarkets, etc., grips and moves objects such as products produced in factories, or moves sterilized tools, objects at risk of infection, biological samples, etc. in a medical setting, 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 a motor for approaching and separating a slider member (103) that supports each gripping member (106) is built into a slider base (102) in an object gripping device (100) that grips an object with a pair of gripping members (106), and a motor for changing the inclination angle of an arm member (104) that supports each gripping member (106) is built into the slider member (103).

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 prior art described in Patent Document 1, a plurality of motors (driving sources) are required to grip an object with a gripping member, resulting in an increase in cost and a complication of control. In particular, in situations and fields where the object gripping device is used, such as in the food, pharmaceutical, and medical fields, attention must be paid to hygiene. In such fields, in order to maintain a hygienic environment, it may be preferable that the parts (hand part, gripping part) that come into direct contact with the object are disposable. In the case of a disposable configuration, from the perspective of work efficiency, it is desirable to have a configuration in which an unused hand part can be quickly attached after removing the used hand part, that is, a configuration in which the attachment and detachment of the hand part are easy. In particular, it is desirable to have a configuration that allows for successive replacement of unused hand parts. Adding an additional motor to detach the hand part causes problems such as further cost increases and increased control complexity.

[0006] The present invention aims to reduce the number of drive sources compared to conventional configurations as a technical problem.

Means for Solving the Problem

[0007] To solve the above technical problem, the object gripping device according to the invention described in claim 1 is a hand part that contacts and grips an object, a socket part that supports the hand part, a drive part that supports the socket part and drives the socket part, and is an object gripping device comprising wherein the socket part has a housing part supported by the drive part, a support part rotatably supported by the housing part and detachably supporting the hand part, a transmitted part to which drive from the drive part is transmitted, a first transmission part to which drive is transmitted from the transmitted part to rotate the support part and move the hand part in a direction approaching or separating from the object, a second transmission part to which drive is transmitted from the transmitted part to detach the hand part from the support part, and has corresponding to the period of detaching the hand part, the second transmission part is driven by the transmitted part, and the first transmission part is not driven by the transmitted part. It is characterized by the following.

[0008] The invention according to claim 2 is the object gripping device according to claim 1, the driven part having a gear, the first engaging part that meshes with the gear of the driven part, and the first idle part that is provided adjacent to the first engaging part and does not mesh with the gear of the driven part and to which drive is not transmitted, the first transmission part having the same; the second transmission part arranged coaxially with the first transmission part, the second transmission part having a second engaging part that meshes with the gear of the driven part; comprising the second engaging part is arranged at a position corresponding to the first idle part with respect to the rotation phase of the driven part It is characterized by the following.

[0009] The invention according to claim 3 is the object gripping device according to claim 1, the socket part detachably supported with respect to the drive part, characterized by comprising the same.

[0010] The invention according to claim 4 is the object gripping device according to claim 1, the drive part that supports a plurality of socket parts, the drive part having one operating body that operates in accordance with the drive of a drive source; the operating body that contacts the driven part of each socket part and transmits drive; characterized by comprising the same.

Advantages of the Invention

[0011] According to the invention described in claim 1, the number of drive sources can be reduced compared with the conventional configuration. According to the invention described in claim 2, by providing the first idle part, rotation and detachment of the hand part can be performed with a common drive source by the drive transmitted from one driven part. According to the invention described in claim 3, the socket part can be easily replaced. According to the invention described in claim 4, a plurality of socket portions can be driven by a common actuator, and the number of drive sources can be reduced as compared with the case where drive sources for driving the socket portions individually are provided.

Brief Description of the Drawings

[0012]

Figure 1

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Embodiments for Carrying out the Invention

[0013] Next, with reference to the drawings, specific examples of 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

[0014] FIG. 1 is an explanatory view of the object gripping device according to Embodiment 1 of the present invention. In FIG. 1, as an example of the object gripping device according to Embodiment 1 of the present invention, a robot arm 1 has an arm portion 2. The arm portion 2 includes a plurality of arm link portions 3 (3a to 3c) extending in a rod shape, arm joint portions 4 (4a to 4d) that rotatably connect 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 motor (not shown) built therein, and it is possible to rotate and move the tip arm link portion 3 with respect to the base 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 one axis is illustrated, the present invention is not limited thereto, and a configuration that is rotatable about two axes or three or more rotation axes, 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 Embodiment 1, two socket portions 8 are provided.

[0015] (Description of the hand part) (Description of the hand part for the curved surface) FIG. 2 is a side view of the hand part for the curved surface of Example 1. FIG. 3 is a developed view of the hand part for the curved surface of Example 1 and is an explanatory view of the sheet for hand part assembly. Each socket part 8 supports a first hand part 11 that contacts and grips the object 9. The first hand parts 11, which are an example of the hand part for the curved surface of Example 1, are arranged in a pair in a symmetric state.

[0016] The first hand part 11 of Example 1 is formed by bending a single sheet 31 for hand part assembly shown in FIG. 3. The sheet 31 for hand part assembly is preferably made of a resin material such as paper, plastic, or rubber, but it is also possible to 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 sheet 31 for hand part assembly can be processed (cut out) into a desired shape using a laser processing machine or the like. Note that 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 cut portion is shown by a solid line, the mountain fold portion is shown by a broken line, and the valley fold portion is shown by a one-dot chain line.

[0017] 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.

[0018] In FIGS. 2 and 3, one end portion 12a of the gripping portion 12 is connected to one end portion 14a of the first link portion 14. The first link portion 14 is formed in a shape that is bent about the portions of the one end portions 12a and 14a with respect to the gripping portion 12, and the first link portion 14 and the gripping portion 12 can be inclined and rotated relative to each other. In FIG. 3, in the hand portion assembly sheet 31 of the first embodiment, link reinforcing portions 14e and 14f are provided on both sides in the short side direction (width direction) with respect to the link main body portion 14d of the first link portion 14. Restoration assisting portions 14g are formed on the inner end sides in the width direction of the respective link reinforcing portions 14e and 14f. The restoration assisting portion 14g is formed in a shape in which the sheet is folded back. The restoration assisting portion 14g of the first embodiment is not adhered to either the link main body portion 14d or the link reinforcing portions 14e and 14f. A plurality of claw portions 14e1 are formed at the outer end portion in the width direction of the first link reinforcing portion 14e. A plurality of openings 14f1 are formed in the second link reinforcing portion 14f corresponding to the claw portions 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 portion 11 is assembled, the claw portions 14e1 are fitted into the openings 14f1.

[0019] A plurality of joint portions 16 (16a to 16d) are arranged between the gripping portion 12 and the first link portion 14. The first joint portion 16a to the fourth joint portion 16d are arranged at intervals from the one end portions 12a and 14a toward the other end portions 12b and 14b, and the lengths of the joint portions 16a to 16d are formed to be longer toward the other end portions 12b and 14b. Therefore, the distance between the gripping portion 12 and the first link portion 14 is formed wider on the side of the other end portions 12b and 14b than on the side of the one end portions 12a and 14a. In FIG. 3, in the first hand portion 11 of the first embodiment, in the hand portion assembly sheet 31, the first joint portion 16a to the third joint portion 16c are formed on the side of the gripping portion 12. After bending the first joint portion 16a to the third joint portion 16c, the end portion on the side of the first link portion 14 is connected by attaching it to the surface of the first link portion 14 with an adhesive or glue.

[0020] In the second joint portion 16b, a plurality of folding portions (an example of the deployment assisting portion) 16b2 are formed in the middle in the longitudinal direction (the direction from the gripping portion 12 toward the first link portion 14). The folding portion 16b2 is configured in the same manner as the restoration assisting portion 14g. In the third joint portion 16c, a folding portion 16c2 is provided in the middle in the longitudinal direction, and a second folding portion (an example of the deployment assisting portion, an example of the gripping force assisting portion) 16c3 is also formed in the central portion 16c1.

[0021] 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 of the other end portion 12b of the gripping portion 12. Similar to the second joint portion 16b and the third joint portion 16c, the fourth joint portion 16 in the first embodiment is provided with a folding portion 16d2. In the first embodiment, the configuration in which four joint portions, i.e., the first joint portion 16a to the fourth joint portion 16d, are provided as the joint portion 16 is illustrated, but the present invention is not limited thereto. It is also possible to have three or less joint portions, or five or more joint portions.

[0022] 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 in 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 in the first embodiment has a protruding portion 18b that protrudes laterally from the side surface of the supported main body portion 18a. Furthermore, the supported part 18 of Example 1 has a connecting belt part 18c. The tip part 18c1 of the connecting belt part 18c is fixed to the side surface of the supported main body part 18a opposite to the base end part 18c2 of the connecting belt part 18c with an adhesive or the like. Then, by inserting a supported connecting piece 14c extending from the other end part 14b of the first link part 14 into the gap between the connecting belt part 18c and the supported main body part 18a, the other end part 14b of the first link part 14 is connected to the supported part 18. In Example 1, the length of the supported connecting piece 14c is formed to be long, and it is configured to be freely movable in the length direction with respect to the connecting belt part 18c when folding and unfolding, which will be described later.

[0023] FIG. 4 is a schematic explanatory diagram of the deployment and folding of the hand part of Example 1, FIG. 4A is an explanatory diagram of the deployed state, and FIG. 4B is an explanatory diagram of the folded state. In FIG. 4, in the first hand part 11 of Example 1, it is bent at one end parts 12a, 14a which are the connecting parts between the gripping part 12 and the first link part 14, and at the base end part of the supported connecting piece 14c which is the connecting part between the first link part 14 and the supported part 18. It is bent at one end parts of the joint parts 16a - 16d which are the connecting parts between each joint part 16a - 16d and the gripping part 12, and at the other end parts of the joint parts 16a - 16d which are the connecting parts between each joint part 16a - 16d and the first link part 14. Furthermore, by bending at the central parts 16a1 - 16d1 of each joint part 16a - 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 and are close to each other, and the supported part 18 and the gripping part 12 face 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 supported part 18 (the overhanging part 18b thereof) with an external force such as a finger or a member, an external member.

[0024] FIG. 5 is an explanatory diagram of the positional relationship between the claw part and the opening part of Example 1, FIG. 5A is an explanatory diagram in the deployed state, and FIG. 5B is an explanatory diagram in the folded state. When an external force is released from the folded state, the first hand part 11 transitions from the folded state shown in Fig. 4B to the deployed state shown in Fig. 4A due to the elastic restoring force (spring property) of the folded 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 deployed 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, the cross-section of the first link part 14 is 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 closed 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 has weak rigidity. When an 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 is triangular, and the overall rigidity is improved compared to a configuration of only one sheet, making it easier to grip the object 9.

[0025] When the first hand part 11 changes from the folded state to the deployed state, the restoring force of the hand part assembly sheet 31 is utilized for the deployment of the link reinforcement parts 14e and 14f. When utilizing the restoring force of the hand part assembly sheet 31, depending on the material, it may not return to the angle required for deployment when folded along the fold line. However, in the first embodiment, a restoration assisting part 14g is provided, and the angle required for deployment is reduced to half of the case where the restoration assisting part 14g is not provided. As an example, when it is desired to deploy the link reinforcement parts 14e and 14f by 60° with respect to the link main body part 14d, in a configuration without the restoration assisting part 14g, it is necessary to deploy by 60° with the restoring force of the sheet. However, if the restoration assisting part 14g is provided, it is sufficient that the restoration assisting part 14g is deployed by 30° with respect to the link main body part 14d and the link reinforcement parts 14e and 14f are deployed by 30° with respect to the restoration assisting part 14g. Therefore, by providing the restoration assisting part 14g, even when using a sheet material with a weak restoring force, it is possible to easily deploy to the target posture (target state, target deployment angle) by utilizing the restoring force of the sheet material. In the first embodiment, a configuration in which one (one stage) of the restoration assisting part 14g is provided is illustrated, but it is also possible to adopt a configuration in which a plurality of stages are provided according to the restoring force of the sheet material and the target deployment angle.

[0026] Also, in the first hand part 11 of the first embodiment, folding-back 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 facilitates the transition from the folded state to the deployed state, and even when the object 9 contacts the gripping part 12 and the joint parts 16a to 16d receive a force in the bending direction, a reaction force and a restoring force act to easily apply a force for gripping the object 9. In particular, in the first embodiment, by providing the second folding-back part 16c3, the deployment of the third joint part 16c is promoted to the state shown in FIG. 4A, and the first hand part 11 can surely and easily transition to the deployed state without remaining in an insufficient deployed state.

[0027] 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 elastic force from the inside. Therefore, when the gripping part 12 comes into contact with the surface of the object 9, as shown in FIG. 6A in the configuration without joint parts, the gripping part is pushed as a whole, whereas 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 the object 9 having a curved outer surface, the contact area becomes wider and it becomes easier to stably grip.

[0028] (Description 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 part 8 can support and attach a second hand part 51 that can be used for a different purpose from the first hand part 11. The second hand part 51 as an example of the hanging hand part of the first embodiment has a gripping part 52 that contacts the handle part 9a of the object 9'. In FIGS. 7 and 8, the gripping part 52 is formed in a flat plate shape or a sheet shape extending from the one end part 52a side to the other end part 52b side. Therefore, the gripping part 52 is configured to be able to bend or flex. In FIG. 7, a contact surface 52c that can contact the object 9' is formed on the surface of the gripping part 52. In FIG. 8, a second connecting piece 52d is formed on the other end part 52b side of the gripping part 52. Further, on the other end side than the second connecting piece 52d, a fixing part 52e is formed, and peeling prevention parts 52f that are folded back and attached to the fixing part 52e are provided at both end parts in the width direction of the fixing part 52e.

[0029] In FIGS. 7 and 8, one end portion 52a of the gripping portion 52 is connected to one end portion 54a of the first link portion 54. The first link portion 54 is formed in a shape bent about 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 of the first embodiment, the first link portion 54 includes a first link main body portion 54d, a first link reinforcing portion 54e, 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, the link reinforcing portions 14e, 14f, the restoring auxiliary portion 14g, the claw portion 14e1, and the opening portion 14f1 described above.

[0030] 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 (tensile force) for pulling the gripping portion 52 in the longitudinal direction acts. The second link portion 56 includes a second link main body portion 56d, a second link reinforcing portion 56e, 56f, a second restoring auxiliary portion 56g, a second claw portion 56e1, and a second opening portion 56f1 in the same manner as the link main body portion 14d, the link reinforcing portions 14e, 14f, the restoring auxiliary portion 14g, the claw portion 14e1, and the opening portion 14f1.

[0031] 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 by doubling the sheet (doubling the thickness of the sheet). Further, a second connecting slit 56i is formed in a substantially central portion in the longitudinal direction of the second link main body portion 56d. 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. Further, 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.

[0032] On the other end portion 56b side of one of the second link reinforcing portions 56e, a first deflection reinforcing portion 56j is formed. The first deflection 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 deflection reinforcing portion 56m is formed. The second deflection reinforcing portion 56m is folded back and attached to the second link reinforcing portion 56f. On the reinforcing portion 56h, a third deflection reinforcing portion 56k is formed on the other end portion 56b side in the longitudinal direction and on the second deflection reinforcing portion 56m side in the width direction. The third deflection reinforcing portion 56k is folded back and attached to the outer surface side of the reinforcing portion 56h. Further, on the reinforcing portion 56h, second peeling prevention portions 56n are formed on both sides in the width direction and on the other end side in the longitudinal direction than the third deflection reinforcing portion 56k.

[0033] 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. In the third link portion 58, a third link main body portion 58d, third link reinforcing portions 58e and 58f, a third restoration assisting portion 58g, a third claw portion 58e1, and a third opening portion 58f1 are formed in the same manner as the link main body portion 14d, the link reinforcing portions 14e and 14f, the restoration assisting portion 14g, the claw portion 14e1, and the opening portion 14f1. Further, in the third link portion 58, deflection reinforcing portions 58j, 58k, and 58m are formed for the same purpose as the respective deflection reinforcing portions 56j, 56k, and 56m of the second link portion 56.

[0034] The second joint portion 57 is configured in the same manner as the first restoration assisting portion 54g and the first joint portion 55, and the restoring force of the sheet 81 for hand portion assembly acts on the second link portion 56 to apply a force in the opening direction with respect to the third link portion 58. 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. Thereby, the second link portion 56 is designed so as 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. and 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 liable to bend, but in the first embodiment, the bending 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.

[0035] 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 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 portion 56n is attached so as to straddle from the side surface of the second link main body portion 56d to the outer surfaces of the second link reinforcing portions 56e and 56f in order to prevent the reinforcing portion 56h from peeling off from the second link main body portion 56d.

[0036] Note that although the reinforcing portion 56h of the second link portion 56 also has a reinforcing function as described above, it also has a function of shifting the connection location between the second link portion 56 and the third link portion 58 to the inside of the second link portion 56 instead of the end of the second link portion 56. By shifting the connection location between the second link portion 56 and the third link portion 58 to the inside of the second link portion 56, when an object is suspended, the third link reinforcing portions 58e and 58f will be pressed against the second link portion 56, restricting the angle between the second link portion 56 and the third link portion 58 to 90 degrees or less, and enabling it to be used in a hook shape (the shape of a hanging hook).

[0037] On the other end portion 58b side of the third link portion 58, a supported portion 60 is connected via a third joint portion 59. On the third joint portion 59, a third connecting piece 59a is formed on the outer side in the width direction. Similar to the supported portion 18, the supported portion 60 is configured to be laminated to have a triple thickness. Also, on the supported portion 60 of the second hand portion 51 in the first embodiment, a third connecting slit 60a into which the third connecting piece 59a is inserted is formed. After the third connecting piece 59a is inserted into the third connecting slit 60a, it is bent inward, and the third joint portion 59 and the supported portion 60 are attached with an adhesive. If the third joint portion 59 and the supported portion 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 portion 59 and the supported portion 60 to peel off.

[0038] 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.

[0039] 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 and 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 and 57.

[0040] 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 the expanded 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.

[0041] (Description of the tip) (Description of the base part) FIG. 10 is an explanatory view of an example of the base part of the first embodiment, FIG. 10A is an explanatory view of the state where the socket part is attached, FIG. 10B is an explanatory view of the state where the hand part is opened, and FIG. 10C is an explanatory view of the state where 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 on 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 on 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.

[0042] FIG. 11 is an explanatory view 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, but the number can be one, or can be three or more.

[0043] 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.

[0044] 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 on the slider 104″, and one set of positioning projections 107 and lock holes 108 are arranged on the right side and two sets of positioning projections 107 and lock holes 108 are arranged on the left side on the socket support portion 106″.

[0045] (Description 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.

[0046] 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 protrusions 107 are fitted are formed in the connecting wall portion 113. Further, a lock member 115 that fits into the lock hole 108 is supported on 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, slide racks 114 are 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 is fitted is formed in the connecting bar 116.

[0047] 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 combination gear 117 meshes with the rack teeth of the slide rack 114. In FIG. 17, the combination gear 117 of the first embodiment includes a first toothless gear 117a, a second toothless gear 117b coaxial with the first toothless gear 117a, and a sector cam 117c coaxial with the second toothless gear 117b. The second toothless gear 117b meshes with the rack teeth of the slide rack 114. The second toothless gear 117b is formed with a wider range of gear teeth than the first toothless gear 117a, and the first toothless 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 combination gear 117.

[0048] 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 combination gear 117. The first gear 118 has a first meshing part 118a that meshes with the first toothless 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 toothless gear 117a and to which drive is not transmitted. The first meshing part 118a is formed in a range corresponding to the first toothless gear 117a. Therefore, in a state where the combination gear 117 rotates and the first gear 118 stops, the sector cam 117c keeps contacting the first idle part 118b while sliding, so as not to rotate the first gear 118.

[0049] 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 toothless gear 117b. The second meshing part 119a is formed in a range corresponding to the second toothless gear 117b. Therefore, with respect to the rotation phases of the combination 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.

[0050] FIG. 18 is an explanatory view of an end face cam, FIG. 18A is a side view, FIG. 18B is a sectional view taken along line XVIIIB-XVIIIB of FIG. 18A, and FIG. 18C is a 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 a 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 an intermediate 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 inward of the first guide rib 131. The second guide rib 132 is formed in an arc shape, and a recess 132a is formed at an 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.

[0051] 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 a rotation shaft 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.

[0052] FIG. 19 is an explanatory view of a state in which 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 the part of the first guide rib, and FIG. 19C is an explanatory view of the part of the second guide rib. FIG. 20 is an explanatory view of a state in which 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 the part of the first guide rib, and FIG. 20C is an explanatory view of the part of the second guide rib. FIG. 21 is an explanatory view of a state in which 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 the part of the first guide rib, and FIG. 21C is an explanatory view of the part of the second guide rib.

[0053] In FIGS. 14 and 19 to 21, a pair of first hand pressing parts 136 are supported at positions corresponding to the first guide rib 131 on the socket rotating part 122. The first hand pressing part 136 is supported by the socket rotating part 122 at the part of the first base end part 136a, and a first holding part 136c having a shape bent inward of the socket rotating part 122 is formed at the first tip part 136b. A first guided protrusion 136d protruding outward is formed on the outer surface of the first tip part 136b. The first hand pressing part 136 is composed of a leaf spring such that the first tip part 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 with the rotation of the end face cam 121, the first guided protrusion 136d moves along the unevenness of the first guide rib 131.

[0054] 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 end portion 137b, a second holding portion 137c, and a second guided projection 137d. Note that 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 portions 18, 60 of the hand portions 11, 51 with respect to the first holding portion 136c.

[0055] 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 deforms outward by the elastic force of the leaf spring of the second hand pressing portion 137, and the second guided projection 137d comes into contact with the recess 132a. Note that the deformation of the second hand pressing portion 137 is not limited to the 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 portions 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 inward, and is in contact with and holds the supported portions 18, 60 of the hand portions 11, 51 that are accommodated most outwardly within the socket rotating portion 122. Note that with the detachment of the used hand portions 11, 51, the outermost hand portions 11, 51 that were held and folded by the first holding portion 136c are deployed.

[0056] 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. Therefore, the second hand pressing portion 137 is elastically deformed inward, and the second holding portion 137c moves inward. And 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 is elastically deformed 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 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.

[0057] 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. Therefore, the first hand pressing portion 136 is elastically deformed 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 next outermost hand portion 11, 51(11-2). That is, the supported portion 18, 60 of the next outermost hand portion 11, 51(11-2) is held by the first holding portion 136c. And 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 pinch or suspend an object.

[0058] 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 insert the gripping part 52 of the second hand part 51 into the handle part 9a of the object 9'.

[0059] When the sliders 104, 104', 104'' move further toward the tip side than when the hand parts 11, 51 are in the closed state, the first gear 118 abuts against 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, the hand parts 11, 51 can be automatically removed, and when switching the hand parts 11, 51 or when the hand parts 11, 51 contaminated in a sanitary environment, etc., can be replaced with new hand parts 11, 51 without the operator touching them.

[0060] 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 portions can be used as long as the supported portions 18, 60 have a common configuration.

[0061] 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 also possible to remove them. Therefore, compared with 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 with the case where a motor is provided for each socket portion 8, costs can be reduced.

[0062] (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 is also applicable to inventory management of the object 9, recognition of the customer's purchase object 9 in a unmanned store, and the like.

[0063] (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 reinforcing parts and the like for each hand part 11, 51, but it is also possible to adopt a configuration without providing them. (H04) In the above embodiments, it is desirable that the hand parts 11, 51 be formed of a single sheet, but it is not limited thereto. It is also possible to adopt a configuration in which each part is separately formed and assembled. For example, it is also possible to make changes such as forming the gripping part 12 of a thick sheet material with high rigidity and forming other parts of a thin sheet material.

[0064] (H05) In the above embodiments, it is desirable to adopt a configuration in which a plurality of hand parts 11, 51 are accommodated in the socket part 8 and automatically exchanged one after another, but it is not limited thereto. It is also possible to adopt a configuration in which only one hand part 11, 51 can be mounted at a time.

Explanation of Reference Numerals

[0065] 1... Object gripping device, 2... Arm part, 7... Driving part, 8... Socket part, 9, 9′... Objects, 11, 51... Hand parts, 104... Operating body, 111... Housing part, 114 to 117... Transmitted parts, 118... First transmission part, 118a... First meshing part, 118b... First idle running part, 119... Second transmission part, 119a... Second meshing part, 122... Support part.

Claims

1. A hand unit that comes into contact with and grasps an object; a socket portion for supporting the hand portion; a drive unit that supports the socket unit and drives the socket unit; An object grasping device comprising: The socket portion is A housing supported by the drive unit; a support portion rotatably supported by the housing portion and configured to detachably support the hand portion; a transmission receiving portion to which drive from the driving portion is transmitted; a first transmission unit that receives driving force from the transmitted unit to rotate the support unit and move the hand unit in a direction to approach or move away from the object; a second transmission section to which the driving force is transmitted from the transmitted section and which causes the hand section to separate from the support section; having the second transmission unit receives a driving force from the transmitted part, and the first transmission unit does not receive a driving force from the transmitted part, corresponding to a period during which the hand unit is detached. An object grasping device comprising:

2. The transmitted part has a gear; the first transmission part including a first meshing part that meshes with the gear of the transmitted part, and a first idling part that is provided adjacent to the first meshing part and does not mesh with the gear of the transmitted part and does not transmit driving force; the second transmission part being disposed coaxially with the first transmission part and having a second meshing part that meshes with a gear of the transmitted part; Equipped with The second meshing portion is disposed at a position corresponding to the first idling portion with respect to the phase of rotation of the transmitted part.

2. The object gripping device according to claim 1 .

3. the socket portion being detachably supported by the drive portion; The object gripping device according to claim 1, further comprising:

4. the drive unit having a plurality of socket portions supported thereon, the drive unit having one actuator that operates in response to the drive of a drive source; The actuator transmits driving force to the driven parts of each socket portion; The object gripping device according to claim 1, further comprising:

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