Gripping device and robot

Abstract

To provide a gripping device and a robot that has holding power sufficient for gripping an object and can achieve this by a simple mechanism.SOLUTION: A gripping device 1 comprises: a first pad (slider 12) and a second pad 20 that are juxtaposed in a first direction and grip an object; a first pedestal 10 which supports the first pad; a second pedestal 30 which is positioned on a side opposite to the first pedestal 10 with the second pad 20 sandwiched therebetween in the first direction; a back support part 40 which connects the first pedestal 10 and the second pedestal 30; a connection part 50 which is connected to the second pad 20; and a housing 60 which is connected to the second pedestal 30 and the connection part 50, and covers the back support part 40 from the side opposite to the first pedestal 10 in a second direction crossing the first direction. The gripping device 1 comprises a linkage 70 having a first link 71 and a second link 72.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a gripping device and a robot. [Background technology]

[0002] Conventionally, there has been known a robot such as that disclosed in Patent Document 1. This robot is equipped with a telescopic device for retrieving an object such as cylindrical space debris. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2021-41504 Summary of the Invention [Problem to be solved by the invention]

[0004] In the robots described above, there has been a demand for an improved gripping force for grasping and holding an object, as well as a demand for a simpler mechanism.

[0005] The present invention has been made in consideration of the above, and aims to provide a gripping device and a robot that have sufficient holding force to grip an object and can achieve this with a simple mechanism. [Means for solving the problem]

[0006] (1) A gripping device according to one aspect of the present invention includes: a first pad and a second pad arranged side by side in a first direction to grip an object; a first base supporting the first pad; a second seat located on the opposite side of the first seat with the second pad interposed therebetween in the first direction; a rear support portion connecting the first base and the second base; a connecting portion connected to the second pad; a housing connected to the second base and the connecting portion and covering the back surface support portion from the opposite side of the first base in a second direction intersecting the first direction; A gripping device comprising: the gripping device includes a link mechanism having a first link and a second link; the first link connects the housing and the second base; the second link connects the housing and the coupling portion; the connecting portion is movable in the first direction and connects the second pad and the second base or the second pad and the back support portion; When gripping the object, the rear support portion and the housing come relatively close to each other in a second direction intersecting the first direction, and an angle between the first link and the second link increases, so that the first pad and the second pad come relatively close to each other in the first direction; When the state where the angle between the first link and the second link is 180 degrees is defined as a singular point of the link mechanism, the first pad and the second pad are locked when the angle between the first link and the second link is further increased from the singular point. It is characterized by: The gripping device configured as described above includes a link mechanism having a first link and a second link. When gripping an object, the angle between the first link and the second link widens, bringing the first pad and the second pad relatively close to each other. The angle between the first link and the second link widens further from the singular point, locking the first pad and the second pad. This provides sufficient gripping force to grip the object. Furthermore, a simple mechanism can achieve sufficient gripping force without requiring a drive unit or the like to control the gripping device.

[0007] (2) In the gripping device described in (1) above, a guide connected to the rear support and positioned between the first base and the second pad; a slider connected to the first base, movable in a direction inclined with respect to the first direction, and functioning as the first pad; The slider may have a locking portion extending in the first direction, and when the object is grasped, the locking portion may abut against the object, causing the slider to move in the second direction until the object is clamped between the slider and the guide. (3) In the gripping device described in (1) or (2) above, an adjustment mechanism that can adjust the distance between the rear support portion and the housing in the second direction is provided on the housing or the rear support portion; When the adjustment mechanism is released, the rear support portion and the housing may move relatively closer to each other in the second direction from the locked state, thereby further increasing the angle between the first link and the second link and releasing the locked state.

[0008] (4) A robot according to one aspect of the present invention includes: The gripping device according to any one of (1) to (3) above, a body having an extendable arm; The gripping device is provided at the end of the arm. It is characterized by: (5) In the robot described in (4) above, a mirror is provided on the first link of the gripping device; The main body may be provided with a light emitting section capable of emitting light toward the mirror, and a light receiving section capable of receiving light reflected from the mirror. [Effects of the Invention]

[0009] The gripping device and robot according to the present invention have sufficient holding force to grip an object, and can achieve this with a simple mechanism. [Brief explanation of the drawings]

[0010] [Figure 1]1 is a perspective view of a gripping device according to one aspect of the present invention. [Figure 2] 1 is a perspective view of a gripping device according to an embodiment of the present invention, viewed from the housing side. [Figure 3] FIG. 10 is a side view of the gripping device as viewed in a third direction, illustrating how an object is gripped using the gripping device according to one embodiment of the present invention. [Figure 4] FIG. 10 is a side view of the gripping device as viewed in a third direction, illustrating how an object is gripped using the gripping device according to one embodiment of the present invention. [Figure 5] FIG. 10 is a side view of the gripping device as viewed in a third direction, illustrating how an object is gripped using the gripping device according to one embodiment of the present invention. [Figure 6] FIG. 10 is a side view of the gripping device as viewed in a third direction, illustrating how an object is gripped using the gripping device according to one embodiment of the present invention. [Figure 7] FIG. 10 is a side view of the gripping device as viewed in a third direction, illustrating how an object is gripped using the gripping device according to one embodiment of the present invention. [Figure 8] FIG. 10 is a side view of the gripping device as viewed in a third direction, illustrating how an object is gripped using the gripping device according to one embodiment of the present invention. [Figure 9] 1 is a perspective view of a gripping device for explaining one embodiment of an adjustment mechanism of the gripping device according to one aspect of the present invention. FIG. [Figure 10] 10 is a perspective view of a gripping device for explaining another embodiment of the adjustment mechanism of the gripping device according to one aspect of the present invention. FIG. [Figure 11] 10 is a perspective view of a gripping device for explaining another embodiment of the adjustment mechanism of the gripping device according to one aspect of the present invention. FIG. [Figure 12A] 12 is a plan view of a gripping device for explaining the operation of the adjustment mechanism of FIGS. 10 and 11. FIG. [Figure 12B] 12 is a cross-sectional view of the gripping device in a locked state, illustrating the operation of the adjustment mechanism of FIG. 10 and FIG. 11. FIG. [Figure 12C]12 is a cross-sectional view of the gripping device in a released state, illustrating the operation of the adjustment mechanism of FIG. 10 and FIG. 11. FIG. [Figure 13] 1 is a perspective view illustrating a robot according to an aspect of the present invention. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments of the present invention will be described with reference to examples, but it is obvious that the present invention is not limited to the examples described below. In the following description, specific numerical values and materials may be exemplified, but other numerical values and materials may be applied as long as the effects of the present invention are obtained. Furthermore, the components of the following embodiments may be combined with each other. Furthermore, in this specification, a numerical range expressed using "to" means a range that includes the numerical values before and after "to" as the lower and upper limits.

[0012] [First embodiment] Fig. 1 shows a gripping device 1 according to this embodiment. Fig. 1 is a perspective view of a gripping device according to one aspect of the present invention. The X coordinate axis, Y coordinate axis, and Z coordinate axis in Figs. 1 to 13 are perpendicular to each other. In this embodiment, the direction parallel to the Y coordinate axis is defined as the first direction.

[0013] (1st and 2nd pads) As shown in FIG. 1, a gripping device 1 according to this embodiment includes a first base 10 and a second pad 20 that support a first pad for gripping an object. The first pedestal 10 and the second pad 20 are movable in a first direction. The first pedestal 10 and the second pad 20 are arranged side by side in the first direction. The first surface 10A of the first pedestal 10 and the second pad surface 20A of the second pad 20 face each other in the first direction. The first surface 10A and the second pad surface 20A may be perpendicular to the first direction.

[0014] (pedestal) The gripping device 1 includes a second pedestal 30 located on the opposite side of the first pedestal 10 in the first direction, with the second pad 20 sandwiched therebetween. When viewed in the negative direction of the Y coordinate axis in FIG. 1, the first pedestal 10, the second pad 20, and the second pedestal 30 are located in this order.

[0015] (back support part) The gripping device 1 includes a back support part 40 that connects the first pedestal 10 and the second pedestal 30. The back support part 40 extends along a first direction. The back support part 40 is located on the negative side of the Z coordinate axis in FIG. 1 relative to the second pad 20.

[0016] (Connection part) The gripping device 1 includes a connecting portion 50 that is connected to the second pad 20. The connecting portion 50 is located on the negative side of the Y coordinate axis in FIG. The connecting portion 50 is movable in the first direction. Since the connecting portion 50 is connected to the second pad 20, the connecting portion 50 is movable in the first direction together with the second pad 20. The second pad 20 and the connecting portion 50 may be relatively close to or far apart from each other in the first direction.

[0017] As shown in FIG. 1, the connecting portion 50 connects the second pad 20 and the second seat 30 together. 1, a shaft member 21 may be provided that is fixed to either the second pad 20 or the connecting portion 50 and slides relative to the other. The axis of the shaft member 21 is parallel to the first direction. The shaft member 21 connects the second pad 20 and the connecting portion 50.

[0018] A disc spring 22 may be provided between the second pad 20 and the connecting portion 50 so as to surround the shaft member 21. By providing the shaft member 21 and the disc spring 22, the pressing force of the second pad 20 against the object is adjusted in a singular point state, which will be described later. Note that, although two shaft members 21 and two disc springs 22 are provided in the example of FIG. 1, the number of shaft members 21 or disc springs 22 is not limited to this as long as the second pad 20 and the connecting portion 50 can move smoothly relative to each other.

[0019] For example, as shown in Fig. 1, a support member 31 may be provided that is fixed to either the second base 30 or the connecting portion 50 and slides relative to the other. The axis of the support member 31 is parallel to the first direction. The support member 31 connects the second base 30 and the connecting portion 50, and allows them to move relatively closer to or farther apart in the first direction. Note that, although one support member 31 is provided in the example of Fig. 1, the number of support members 31 is not limited to this as long as the second base 30 and the connecting portion 50 can move smoothly relative to each other.

[0020] Alternatively, the connecting portion 50 may connect the second pad 20 and the rear support portion 40. In this case, the rear support portion 40 may be provided with a rail portion extending along the first direction, and the connecting portion 50 may be provided with a guide portion corresponding to the rail portion. The rail portion and guide portion connect the second base 30 and the rear support portion 40, allowing the second base 30 to move along the rear support portion 40 in the first direction.

[0021] (housing) FIG. 2 shows a perspective view of the gripping device 1 according to this embodiment as seen from the housing 60 side. The gripping device 1 includes a housing 60. As shown in FIG. 1 or 2, the housing 60 is connected to the second base 30 and the connecting portion 50 via a link mechanism 70.

[0022] The housing 60 covers the rear support part 40 from the side opposite the first base 10 in a second direction intersecting the first direction. As shown in FIG. 1 or 2, the housing 60 includes a housing rear part 61 and a pair of housing side parts 62. The housing side parts 62 are provided so as to rise in the positive direction of the Z coordinate axis relative to the housing rear part 61. When viewed in the negative direction of the Z coordinate axis in FIG. 1 or 2, the first base 10, the rear support part 40, and the housing rear part 61 of the housing 60 are located in this order. The housing side parts 62 are located on both ends of the rear support part 40 along the X coordinate axis in FIG. 1. In this embodiment, the second direction is parallel to the Z coordinate axis. In addition, in this embodiment, the third direction is parallel to the X coordinate axis.

[0023] The housing 60 may be connected to another member such as an expandable member or a robot arm on the surface of the housing rear portion 61 opposite to the housing rear surface 61A.

[0024] (Link mechanism) The gripping device 1 includes a link mechanism 70 having a first link 71 and a second link 72 . The first link 71 connects the housing 60 and the second base 30. The first link 71 and the housing 60 are connected to be relatively rotatable around the X coordinate axis. The first link 71 and the housing 60 may be rotatably connected by a bolt structure 710 including a bolt passing through them and a nut threaded onto the bolt, as shown in FIG. 1 or FIG. 2, for example.

[0025] Furthermore, the first link 71 and the second pedestal 30 are connected to be relatively rotatable around the X coordinate axis. The first link 71 and the second pedestal 30 may be rotatably connected by a bolt structure 720 including a bolt fixed to the second pedestal 30 and a nut threaded onto the bolt, as shown in Fig. 1 or 2, for example.

[0026] First link 71 to which the bolt structure is applied is provided with holes through which the bolts of bolt structure 710 and bolt structure 720 can be inserted. Housing 60 to which the bolt structure is applied is provided with holes through which the bolts of bolt structure 710 and bolt structure 720 can be inserted. The shanks of the bolts of bolt structure 710 and bolt structure 720 may be provided with a threaded portion (external thread) over part or the entire length in the longitudinal direction to be threadedly engaged with the threaded portion (internal thread) of a nut.

[0027] 1 or 2, two first links 71 are provided for each housing side portion 62, but the number of first links 71 is not limited to this. Three or more first links 71 may be provided for each housing side portion 62. In order to stabilize the operation of the second base 30, it is preferable that two first links 71 are provided for each housing side portion 62.

[0028] The second link 72 connects the housing 60 and the coupling portion 50. The second link 72 and the housing 60 are connected to be relatively rotatable around the X coordinate axis. The second link 72 and the housing 60 may be rotatably connected by a bolt structure 730 including a bolt passing through them and a nut threaded onto the bolt, as shown in FIG. 1 or 2, for example.

[0029] Furthermore, the second link 72 and the connecting portion 50 are connected to be relatively rotatable around the X coordinate axis. The second link 72 and the connecting portion 50 may be rotatably connected by a bolt structure 740 including a bolt fixed to the connecting portion 50 and a nut threaded onto the bolt, as shown in Fig. 1 or 2, for example.

[0030] Second link 72 to which the bolt structure is applied is provided with holes through which the bolts of bolt structure 730 and bolt structure 740 can be inserted. Housing 60 to which the bolt structure is applied is provided with holes through which the bolts of bolt structure 730 can be inserted. The shanks of the bolts of bolt structure 730 and bolt structure 740 may be provided with threads (external threads) over part or the entire length in the longitudinal direction to be threadedly engaged with the threads (internal threads) of the nut.

[0031] 1, one second link 72 is provided for each housing side portion 62, but the number of second links 72 is not limited to this. Two or more second links 72 may be provided for each housing side portion 62.

[0032] As shown in FIG. 1 , a spring 73 is connected to the first link 71 and the second link 72. The compressive force of the spring 73 pulls the first link 71 and the second link 72 together in a direction that reduces the angle between the first link 71 and the second link 72. When the angle between the first link 71 and the second link 72 is between the initial angle and 180 degrees, the spring 73 applies a force that reduces the angle between the first link 71 and the second link 72. When the angle between the first link 71 and the second link 72 increases beyond 180 degrees, the spring 73 applies a force that increases the angle between the first link 71 and the second link 72.

[0033] The means for maintaining the angle between the first link 71 and the second link 72 is not limited to the spring 73, but the spring 73 may be, for example, a tension coil spring. As shown in Fig. 1, the ends of the spring 73 may be connected to a bolt structure 720 fixed to the second base 30 and a bolt structure 740 fixed to the connecting portion 50, respectively.

[0034] Here, the angle between the first link 71 and the second link 72 is the angle formed by a virtual line l1 along the first link 71 and a virtual line l2 along the second link 72. In a plane perpendicular to the two rotation axes c1 and c2 of the first link 71, a virtual line passing through these rotation axes is defined as virtual line l1, and in a plane perpendicular to the two rotation axes c3 and c4 of the second link 72, a virtual line passing through these rotation axes is defined as virtual line l2. Of the angles formed by virtual line l1 and virtual line l2 in the above plane, this refers to the angle on the side where an object to be gripped by the first pad (first base 10 or slider 12) and the second pad 20 is inserted. In the example of FIG. 1, the above plane is parallel to the Y coordinate axis and the Z coordinate axis. 1 (a state in which the object to be grasped is not in contact with the grasping device 1), the rotation axis c2 is located on the positive side of the Z coordinate axis relative to the rotation axis c1. Also, in the initial state, the rotation axis c4 is located on the positive side of the Z coordinate axis relative to the rotation axis c3. In the initial state, the angle between the first link 71 and the second link 72 is minimum.

[0035] 1 or 2, the rotation axis c1 coincides with the axis of bolt 710A, the rotation axis c2 coincides with the axis of bolt 720A, the rotation axis c3 coincides with the axis of bolt 730A, and the rotation axis c4 coincides with the axis of bolt 740A. The axis of the bolt structure refers to the center of rotation around which a member connected to the bolt structure rotates.

[0036] The gripping device 1 according to this embodiment may include a slider 12 and a guide 14 as shown in FIG. The slider 12 has a locking portion 12a and a holding surface 12b. The locking portion 12a is a portion that rises from the holding surface 12b toward the second pad 20 in the first direction. The holding surface 12b is a portion that sandwiches the object w between the slider 12 and the second pad 20 when the slider 12 is provided. In other words, when the gripping device 1 is provided with the slider 12, the slider 12 functions as a first pad. That is, the object w is gripped by the holding surface 12b and the second pad surface 20A of the second pad 20. The first base 10, the slider 12, and the second pad 20 are arranged side by side in the first direction. The holding surface 12b and the second pad surface 20A of the second pad 20 face each other in the first direction. The holding surface 12b and the second pad surface 20A may be perpendicular to the first direction.

[0037] The slider 12 is connected to the first base 10 and is movable in a direction inclined with respect to the first direction. For example, as shown in Fig. 2, a shaft member 16 having an axis inclined with respect to the first direction may be provided on the first base 10, and the slider 12 may be configured to slide relative to the shaft member 16, thereby moving in a direction inclined with respect to the first direction.

[0038] When gripping the object w, as the locking portion 12a contacts the object w and the object w advances toward the back support portion 40, the slider 12 moves in the second direction until the object w is sandwiched between the slider 12 and the guide 14. As the slider 12 moves in the second direction, the slider 12 also moves in a direction inclined relative to the first direction, causing the slider 12 to move in the first direction. The slider 12 moves in the first direction until the distance between the holding surface 12b of the slider 12 and the guide 14 in the first direction matches the size of the object w in the first direction. Therefore, the position of the slider 12 in the first direction is adjusted according to the size of the object w in the first direction. As a result, the distance between the holding surface 12b of the slider 12 and the second pad surface 20A of the second pad 20, i.e., the stroke between the pads, is automatically adjusted for objects w of different sizes.

[0039] The slider 12 may be biased by a spring member 18 toward the side where the object w is inserted (the positive direction of the Z coordinate axis in FIG. 1, etc.), thereby keeping the locking portion 12a of the slider 12 in contact with the object w to be inserted.

[0040] 1, the first pedestal 10 functions as the first pad. That is, the object w is grasped by the first surface 10A of the first pedestal 10 and the second pad surface 20A of the second pad 20.

[0041] (Operation of the gripping device) Next, a mechanism by which the gripping device 1 according to this embodiment grips an object will be described. Fig. 3 shows the state before the first pad (slider 12) and the second pad 20 grip the object w. The state in Fig. 3 is the initial state described above. In the initial state, a force is applied by the spring 73 to reduce the angle between the first link 71 and the second link 72, and the distance between the first base 10 and the second pad 20 is at its greatest.

[0042] FIG. 4 shows a state in which the object w and the gripping device 1 have come closer to each other from the state shown in FIG. When transitioning from the state of FIG. 3 to the state of FIG. 4, the gripping device 1 is moved in the second direction so that the object w and the gripping device 1 come relatively close to each other.

[0043] FIG. 5 shows a state in which the object w is further inserted into the gripping device 1 from the state shown in FIG. 4 and the object w comes into contact with the guide 14. In the state shown in FIG. 5, the object w is in contact with the locking portion 12a and the holding surface 12b of the slider 12, and the guide 14.

[0044] FIG. 6 shows a state in which the object w has advanced further from the state shown in FIG. 5 toward the back support part 40, and the angle between the first link 71 and the second link 72 has become wider than in the initial state. In the state shown in FIG. 6, the object w is in contact with the locking portion 12a and the holding surface 12b of the slider 12, and the second pad surface 20A of the second pad 20.

[0045] 5, when the object w attempts to move further toward the rear support part 40, the rear support part 40 and the housing 60 move relatively closer to each other in a second direction intersecting the first direction. As the rear support part 40 and the housing 60 move closer to each other, the second pedestal 30 connected to the rear support part 40 and the connecting part 50 connected to the second pedestal 30 also move toward the housing 60 together with the rear support part 40. As a result, the first link 71 connecting the housing 60 and the second pedestal 30 and the second link 72 connecting the housing 60 and the connecting part 50 rotate about the rotation axis c1 and the rotation axis c3, respectively. This rotational movement opens the angle between the first link 71 and the second link 72, and the rotational movement of the first link 71 moves the first base 10 in the negative direction of the Y coordinate axis, and the rotational movement of the second link 72 moves the second pad 20 in the positive direction of the Y coordinate axis, so that the first base 10 and the second pad 20 become relatively closer in the first direction.

[0046] 7 shows a state in which an external force acts on the object w from the state in FIG. 6 to move further toward the back support part 40, causing the angle between the first link 71 and the second link 72 to become 180 degrees. The state of the link mechanism 70 in this state is called the singular point of the link mechanism 70.

[0047] Figure 8 shows a state in which, from the state shown in Figure 7, an external force acts on the object w, causing it to move further toward the back support part 40, causing the angle between the first link 71 and the second link 72 to become even larger than 180 degrees, and the first pad (slider 12) and the second pad 20 to enter a locked state.

[0048] When the link mechanism 70 passes the singular point and the angle between the first link 71 and the second link 72 exceeds 180 degrees, the first pad (slider 12) and the second pad 20 enter a locked state. In this locked state, the rear support part 40 and the housing rear part 61 of the housing 60 come into contact, the rear support part 40 and the housing 60 cannot come any closer together, and the angle between the first link 71 and the second link 72 does not become any larger.

[0049] When the link mechanism 70 is at the singular point, the distance in the first direction between the first pad (slider 12) and the second pad 20 is smallest. Therefore, the distance between the holding surface 12b of the slider 12 and the second pad surface 20A of the second pad 20 (the first surface 10A of the first base 10 if the gripping device 1 does not include the slider 12) is smallest, but the disc spring 22 described above deforms, absorbing the stroke difference between the pads at the singular point of the link mechanism 70 and in the locked state, and the object w is held appropriately even in the locked state. In the locked state, there is an advantage that no energy is required to maintain the holding force of the first pad (slider 12) and the second pad 20.

[0050] The gripping device 1 having the above configuration is equipped with a link mechanism 70 having a first link 71 and a second link 72, and when gripping an object w, the angle between the first link 71 and the second link 72 opens, bringing the first pad (slider 12) and the second pad 20 relatively close to each other, and the angle between the first link 71 and the second link 72 opens further from the singular point, causing the first pad (slider 12) and the second pad 20 to enter a locked state. This provides sufficient holding force to grip an object. In addition, a drive unit or control unit for operating the first pad (slider 12) and the second pad 20 is not required, and sufficient holding force can be achieved with a simple mechanism.

[0051] (Unlock function) In the gripping device 1 according to the above embodiment, the housing 60 or the back surface support part 40 may be provided with an adjustment mechanism that can adjust the distance between the back surface support part 40 and the housing 60 in the second direction.

[0052] FIG. 9 shows an example of an adjustment mechanism. In the example of FIG. 9, a rod 80 capable of advancing and retreating in the second direction is provided in a housing 60 as the adjustment mechanism. The rod 80 is connected to a motor 82 via a feed screw 81. The rod 80, the feed screw 81, and the motor 82 are arranged along the second direction, for example, as shown in FIG. 9. The rod 80, the feed screw 81, and the motor 82 are provided in a joint 210. The feed screw 81 converts the rotation of the motor 82 into linear motion along the second direction. The driving force of the motor 82 is transmitted to the feed screw 81 and converted into advancement and retreat of the rod 80 in the second direction.

[0053] From the initial state to the locked state described above, the end face 80A of the rod 80 is located closer to the back support part 40 than the housing rear surface 61A of the housing rear part 61. After the first pad (slider 12) and the second pad 20 have gripped the object w and are in a locked state, the distance between the first pad (slider 12) and the second pad 20 must be greater than in the locked state in order to release the object w. By driving the motor 82, the end face 80A of the rod 80, which is located closer to the rear support part 40 than the housing rear face 61A, is moved back in the second direction so that it is flush with the housing rear face 61A or in a direction away from the rear support part 40 relative to the housing rear face 61A. This causes the rear support part 40 to move further toward the housing rear part 61. This is because the compression force of the spring 73 applies a force to the second base 30 connected to the rear support part 40 to move closer to the housing rear part 61 in the second direction. In this state, by moving the rod back, i.e., by releasing the adjustment mechanism, the rear support part 40 and the housing 60 move relatively closer to each other in the second direction from the locked state. At this time, the angle between the first link 71 and the second link 72 widens further, the distance between the first pad (slider 12) and the second pad 20 increases, the holding force on the object w disappears, and the locked state is released.

[0054] By providing the above-described adjustment mechanism, the gripping device 1 can be released from the locked state without adding any additional configuration.

[0055] 10 and 11 show other examples of the adjustment mechanism. As shown in Fig. 10, a protrusion 201 is provided on a joint 220 connected to a housing 60. When the housing rear portion 61 and the joint 220 are spaced apart in the second direction (Fig. 10(A)), the protrusion 201 is positioned in a direction away from the rear support portion 40 with respect to a rear housing surface 61A of the housing rear portion 61. When the housing rear portion 61 and the joint 220 are close to each other in the second direction (Fig. 10(B)), the protrusion 201 protrudes from the rear housing surface 61A of the housing rear portion 61 toward the rear support portion 40.

[0056] 11, a stopper 42 is provided on the back support part 40. The stopper 42 has a shape that is bent in the length direction of the stopper 42, and includes an upper stopper part 42A and a lower stopper part 42B. As shown in (A) of Figure 11, when the upper stopper part 42A protrudes from the rear surface 40A of the rear support part 40 toward the rear housing part 61, the lower stopper part 42B is located inside the rear support part 40 relative to the rear surface 40A. As shown in Figure 11 (B), when the lower stopper 42B protrudes from the rear surface 40A of the rear support part 40 toward the housing rear part 61, the upper stopper 42A is located inside the rear support part 40 relative to the rear surface 40A.

[0057] When no force is applied to the stopper 42, the stopper upper part 42A protrudes from the rear surface 40A of the rear support part 40 toward the rear housing part 61, and the stopper lower part 42B is held in a position inside the rear support part 40 relative to the rear surface 40A, by a biasing means such as a spring and a shaft part (not shown) that rotatably connects the stopper 42 to the rear support part 40.

[0058] The protrusion 201 is positioned to correspond to the stopper upper part 42A in the first direction and the third direction. When the joint 220 moves toward the rear support part 40 in the second direction, the stopper upper part 42A is pressed toward the rear support part 40, and the stopper lower part 42B protrudes from the rear surface 40A of the rear support part 40 toward the housing rear part 61.

[0059] 12A to 12C show the operation of stopper 42 in the initial state (FIG. 12A), the locked state (FIG. 12B), and the released state (FIG. 12C). Note that FIG. 12A is a side view seen from the third direction, while FIGS. 12B and 12C are cross-sectional views perpendicular to the third direction and including a broken surface at the center of gripping device 1 in the third direction. In the initial state of FIG. 12A, the stopper upper part 42A protrudes from the rear surface 40A of the rear surface support part 40 toward the housing rear part 61, and the stopper lower part 42B is located inside the rear surface support part 40 relative to the rear surface 40A. 12B. In this state, the stopper upper portion 42A is pressed toward the rear support portion 40 by the protrusion 201, and the stopper lower portion 42B protrudes from the rear surface 40A of the rear support portion 40 toward the housing rear portion 61. Therefore, a gap is created in the second direction between the housing rear surface 61A of the housing rear portion 61 and the rear surface 40A of the rear support portion 40 by the stopper lower portion 42B.

[0060] 12B , by moving the joint 220 in the second direction away from the housing 60, the protrusion 201 moves together with the joint 220 in the direction away from the rear support part 40 relative to the housing rear surface 61A of the housing rear part 61. At this time, the compressing force of the spring 73 applies a force that moves the rear support part 40 and the housing 60 closer to each other in the second direction. In addition, the biasing means of the stopper 42 causes the stopper upper part 42A to protrude from the rear surface 40A of the rear support part 40 toward the housing rear part 61, and a force acts to return the stopper lower part 42B to a state where it is located more inward than the rear surface 40A of the rear support part 40. Therefore, the gap between the housing rear surface 61A of the housing rear part 61 and the rear surface 40A of the rear support part 40, which was created by the stopper lower part 42B, disappears, and the rear support part 40 and the housing 60 move relatively closer to each other in the second direction from the locked state. At this time, the angle between the first link 71 and the second link 72 widens further, the distance between the first pad (slider 12) and the second pad 20 increases, the holding force on the object w disappears, and the locked state is released, as shown in the release state of Figure 12C.

[0061] By providing the above-described adjustment mechanism, the locked state can be released without using an additional drive unit, control device, or the like.

[0062] [Second embodiment] The robot 100 according to this embodiment includes the gripping device 1 according to the first embodiment. The robot 100 according to this embodiment is assumed to be a removal satellite equipped with the robot 100 for recovering objects such as space debris.

[0063] As shown in FIG. 13, the robot 100 according to this embodiment includes a main body 110 having extendable arms 200 (200a, 200b, 200c, and 200d). Of the arms 200a and 200c extending parallel to each other, one arm is provided with a gripping device 1 (1a or 1c) at its longitudinal end (tip), while the other arm is not provided with a gripping device 1. Similarly, of the arms 200b and 200d extending parallel to each other, one arm is provided with a gripping device 1 (1b or 1d) at its longitudinal end (tip), while the other arm is not provided with a gripping device 1. The arms 200a, 200b, 200c, and 200d extend along the positive and negative directions of the X coordinate axis and the positive and negative directions of the Y coordinate axis, respectively, in FIG. 13. The first direction (the first direction described in the first embodiment) of each of the gripping devices 1a, 1b, 1c, and 1d is parallel to the Z coordinate axis in Fig. 13. The second direction (the second direction described in the first embodiment) of each of the gripping devices 1a, 1b, 1c, and 1d is parallel to the X coordinate axis or the Y coordinate axis in Fig. 13. The robot 100 may be attached to a satellite (not shown) via a support 300. In the example of Fig. 13, the support 300 extends along the Z coordinate axis of Fig. 13. The main body 110 of the robot 100 may be attached to one end of the support 300 in the extension direction, and the satellite may be attached to the other end of the support 300 in the extension direction.

[0064] When the robot 100 is in use, each of the arms 200a, 200b, 200c, and 200d can be extended in a direction away from the main body 110, allowing the gripping device 1 provided at the tip of the arm 200 to come into contact with the inner wall of the ring of the object. For example, when arm 200a extends in a direction away from main body 110, as described above, the direction of the force pressing arm 200a against the inner wall of the ring-shaped object due to the extension force of arm 200a is converted by link mechanism 70 of gripping device 1a, and the edge of the ring-shaped object can be clamped by first base 10 and second pad 20. At this time, arm 200c extending parallel to arm 200a also extends in a direction away from main body 110, and the reaction force generated when the end of arm 200c not provided with gripping device 1 is pressed against the inner wall of the ring-shaped object also becomes a pressing force required for the operation of gripping device 1 provided on arm 200a side.

[0065] An end effector 400 may be provided at the end of the arm 200. This allows the gripping device 1 to be guided to an appropriate position relative to the circular edge. When the robot 100 is not in use, each of the arms 200a, 200b, 200c, and 200d may be housed inside the main body 110. In the above embodiment, an example was described in which a gripping device 1 is provided at the longitudinal end (tip) of one of the arms 200 extending parallel to each other, and a gripping device 1 is not provided on the other arm, but the gripping device 1 may also be provided at the end of each arm.

[0066] The number of arms 200 is not limited to four as shown in FIG. 13 . The number of arms 200 may be one, two, three, or more, as long as it is an appropriate number for holding an object. Of these arms 200, the gripping devices 1 may be provided at the ends of some of the arms 200. Alternatively, the same number of gripping devices 1 as the number of arms 200 may be provided at the ends of all of the arms 200. It is preferable that multiple arms 200 are arranged radially so that the arms 200 extend in a direction away from the main body 110. It is also more preferable that the distances from the center of the main body 110 to each gripping device 1 are equal. This allows the gripping devices 1 provided at the ends of the arms 200 to contact the inner wall of the ring of the object with an appropriate force.

[0067] In the gripping device 1 according to this embodiment, a mirror 90 may be provided on the first link 71 of the gripping device 1. Furthermore, the main body 110 may be provided with a light-emitting unit (not shown) capable of emitting light toward the mirror 90 and a light-receiving unit (not shown) capable of receiving light reflected from the mirror. The light-emitting unit includes an LED or the like and is capable of emitting light in a predetermined direction. The light-receiving unit includes a light-receiving element and is capable of detecting the intensity of light. Light emitted from the light-emitting unit toward the mirror 90 is reflected by the mirror 90. Because the mirror 90 rotates together with the rotation of the first link 71, the intensity of the light received by the light-receiving unit changes in accordance with the change in the angle of the first link 71. By measuring the intensity of the light reflected from the mirror 90 at the light-receiving unit, the opening angle of the first link 71 can be detected.

[0068] In order to properly receive the light reflected from the mirror 90 at the light receiving unit, it is preferable that the light source of the light emitting unit and the light receiving sensor of the light receiving unit are in the same position in the direction along the rotation axis c1 of the first link 71, i.e., the third direction mentioned above. If the positions of the light emitting unit, the light receiving unit, and the mirror are set so that the intensity of the light received by the light receiving unit is equal to or greater than a predetermined value when the first link 71 is at a specific opening angle, it is possible to detect the state of the first link 71 and to confirm whether the gripping device 1 is operating normally. A sensor using a mirror 90 as described above eliminates the need for wiring to the gripping device.

[0069] In the above embodiment, an example was shown in which the gripping device was installed on a removal satellite, but the gripping device according to the present disclosure may be attached to the tip of a robot arm, for example. As described above, the gripping device according to the present disclosure has a simple mechanism, and when employed as a gripping means for a robot arm or the like, it can exert a sufficient holding force to grip an object without using a special drive unit or control device. When the gripping device according to the present disclosure is attached to the tip of a robot arm, the robot arm can be operated to move the gripping device in the second direction described above relative to the object to be gripped, thereby allowing the object to be gripped by the first pad (first base 10 or slider 12) and the second pad 20.

[0070] The gripping device and robot according to the present disclosure have the advantage that they have sufficient holding force to grip an object, and this can be achieved with a simple mechanism. [Explanation of symbols]

[0071] 1 Gripping device 10 First Pedestal 12 Sliders 14 Guide 20 Second Pad 30 Second Pedestal 40 Back support part 50 Connection part 60 Housing 70 Link mechanism 71 Link 1 72 Second Link 100 robots

Claims

1. a first pad and a second pad arranged side by side in a first direction to grip an object; a first base supporting the first pad; a second seat located on the opposite side of the first seat with the second pad interposed therebetween in the first direction; a rear support portion connecting the first base and the second base; a connecting portion connected to the second pad; a housing connected to the second base and the connecting portion and covering the back surface support portion from the opposite side of the first base in a second direction intersecting the first direction; A gripping device comprising: the gripping device includes a link mechanism having a first link and a second link; the first link connects the housing and the second base; the second link connects the housing and the coupling portion; the connecting portion is movable in the first direction and connects the second pad and the second base or the second pad and the back support portion; When gripping the object, the rear support portion and the housing come relatively close to each other in a second direction intersecting the first direction, and an angle between the first link and the second link increases, so that the first pad and the second pad come relatively close to each other in the first direction; When a state where the angle between the first link and the second link is 180 degrees is defined as a singular point of the link mechanism, the first pad and the second pad are locked when the angle between the first link and the second link is further increased from the singular point. A gripping device characterized by:

2. a guide connected to the rear support and positioned between the first base and the second pad; a slider connected to the first base, movable in a direction inclined with respect to the first direction, and functioning as the first pad; the slider has a locking portion extending in the first direction, and when the object is grasped, the locking portion comes into contact with the object, causing the slider to move in the second direction until the object is sandwiched between the slider and the guide. The gripping device according to claim 1 .

3. an adjustment mechanism that adjusts a distance between the rear support portion and the housing in the second direction is provided on the housing or the rear support portion; When the adjustment mechanism is released, the rear support portion and the housing come relatively close to each other in the second direction from the locked state, so that the angle between the first link and the second link further increases, and the locked state is released.

3. The gripping device according to claim 1 or 2.

4. The gripping device according to claim 1 or 2; a body having an extendable arm; The gripping device is provided at the end of the arm. A robot characterized by:

5. a mirror is provided on the first link of the gripping device; The main body is provided with a light emitting unit capable of emitting light toward the mirror and a light receiving unit capable of receiving light reflected from the mirror.

5. The robot according to claim 4.

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