Holding auxiliary tool, holding device and industrial robot

Abstract

To provide a holding auxiliary tool, a holding device and an industrial robot which can efficiently hold a plurality of work-pieces.SOLUTION: A holding auxiliary tool 11, which is mounted on a holding device 10 that is provided with a palm part 30 and a plurality of finger parts 32, protrudingly provided around the palm part 30, which tilt toward the palm part 30 by deforming the palm part 30 in a thickness direction, comprises a plurality of auxiliary tool main bodies 51 which are mounted on the plurality of finger parts 32 respectively. The auxiliary tool main bodies 51 respectively have holding surfaces 52 which contact a plurality of work-pieces and side surfaces 54 made adjacent to the holding surfaces 52. In a closed state where the plurality of finger parts 32 tilt toward the palm part 30, respective side surfaces 54 of the plurality of auxiliary tool main bodies 51 face each other, so that the respective holding surfaces 52 of the plurality of auxiliary tool main bodies 51 hold the plurality of work-pieces.SELECTED DRAWING: Figure 5

Description

[Technical Field]

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

[0002] A known gripping device for gripping a workpiece includes a bag-shaped gripping body (Patent Document 1). The gripping body of the gripping device disclosed in Patent Document 1 has a palm portion and a plurality of finger portions that protrude from the periphery of the palm portion and that collapse toward the palm portion when the palm portion is deformed in the thickness direction. The gripping body has an opening on the other end opposite the end where the palm portion and finger portions are provided. The opening of the gripping body is sealed by a case. The case is connected to a vacuum generator via piping. In the gripping device disclosed in Patent Document 1, when the pressure inside the gripping body is reduced, the palm portion deforms in the thickness direction, and the plurality of finger portions elastically deform so as to collapse toward the palm portion. This allows the plurality of finger portions to come into contact with the surface of the workpiece and grip the workpiece. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2023-68961 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the gripping device disclosed in Patent Document 1, when multiple fingers are tilted toward the palm to grip multiple workpieces together, the workpieces may fall out through gaps that form between adjacent fingers. The gripping device disclosed in Patent Document 1 has room for improvement in terms of efficiently gripping multiple workpieces.

[0005] An object of the present invention is to provide a gripping aid, a gripping device, and an industrial robot that can efficiently grip multiple workpieces. [Means for solving the problem]

[0006] The gripping aid of the present invention is a gripping aid that is attached to a gripping device that has a palm portion and a plurality of finger portions that protrude from the periphery of the palm portion and that tilt toward the palm portion by deforming the palm portion in the thickness direction, and includes a plurality of auxiliary device main bodies attached to each of the plurality of finger portions, and each of the plurality of auxiliary device main bodies has a gripping surface that contacts a plurality of workpieces and a side surface adjacent to the gripping surface, and when in a closed state with the plurality of finger portions tilted toward the palm portion, the side surfaces of each of the plurality of auxiliary device main bodies face each other, and the plurality of workpieces are gripped by the gripping surface of each of the plurality of auxiliary device main bodies.

[0007] The gripping device according to the present invention comprises a palm portion, a plurality of finger portions protruding from the periphery of the palm portion and tilting toward the palm portion by deforming the palm portion in the thickness direction, and the above-mentioned gripping aid attached to the plurality of finger portions.

[0008] An industrial robot according to the present invention includes the above-described gripping device. [Effects of the Invention]

[0009] According to the present invention, multiple workpieces can be gripped efficiently. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a schematic diagram illustrating an example of an industrial robot to which a gripping device according to an embodiment is applied. [Figure 2] FIG. [Figure 3] FIG. [Figure 4] 10A and 10B are explanatory diagrams illustrating a method for attaching a gripping aid to a finger portion. [Figure 5] 10A and 10B are explanatory diagrams for explaining an open state and a closed state of the gripping device. [Figure 6] FIG. 2 is a bottom view of the gripping device in a closed state. [Figure 7] FIG. 10 is an explanatory diagram for explaining a state in which the gripping device is used. [Figure 8] FIG. 10 is an explanatory diagram for explaining a state in which the gripping device is used. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. The embodiment described below is an example of the present invention, and the present invention is not limited thereto. In the following description of the embodiment, similar components are designated by similar reference numerals, and description thereof will be omitted as appropriate.

[0012] (Overall composition) 1 shows the configuration of an industrial robot 12 to which a gripping device 10 according to this embodiment is applied. The industrial robot 12 is a Cartesian robot, and includes a rail 14, a moving body 16 that moves along the rail 14, and an air cylinder 18 fixed to the moving body 16. The rail 14 is provided so as to be movable in the Y-axis direction in the drawing.

[0013] The air cylinder 18 has a cylinder tube 19 and a piston rod 20 that is provided so as to be able to advance and retreat relative to the cylinder tube 19. Pipes 21 and 22 are provided to the cylinder tube 19. Gas is supplied and exhausted through the pipes 21 and 22, allowing the piston rod 20 to advance and retreat relative to the cylinder tube 19. The gripping device 10 is attached to the tip of the piston rod 20 via a detachable part 24 that is connected to an adapter plate 23. The adapter plate 23 is fixed to the tip of the piston rod 20 with bolts (not shown).

[0014] The industrial robot 12 can grip multiple workpieces W placed on a horizontal base 26 with the gripping device 10 and move them in the X-axis, Y-axis, and Z-axis directions. The multiple workpieces W have an outer diameter smaller than the distance between the multiple finger portions 32 described below. The multiple workpieces W are placed in a scattered state on the base 26. The multiple workpieces W have wet surfaces. The multiple workpieces W are, for example, granular food such as mixed vegetables. The outer diameter of the workpieces W is, for example, 6 mm. The outer diameter of the workpieces W is the diameter of the circumscribing circle of the workpieces W.

[0015] FIG. 2 shows a front view of the gripping device 10. FIG. 3 shows a rear view of the gripping device 10. FIGS. 2 and 3 show the gripping device 10 detached from the detachable part 24. The gripping device 10 includes a gripping body 28 attached to the piston rod 20 via the detachable part 24. The gripping body 28 can be made of a material that is airtight, elastic, and flexible, such as natural rubber, synthetic rubber, or various elastomers. The material of the gripping body 28 does not necessarily have to be a single material, and may be a composite material made up of a combination of different materials. The hardness of the gripping body 28 measured in accordance with the durometer hardness test (type A) of JIS K6253 is preferably about 60 to 90.

[0016] The grip body 28 has a palm portion 30 and a plurality of finger portions 32 protruding from the periphery of the palm portion 30. The palm portion 30 is generally disk-shaped. The palm portion 30 has a central axis that passes through its center and extends along the thickness direction (Z direction). The finger portions 32 are formed integrally with the palm portion 30, and three finger portions 32 are provided to sandwich the palm portion 30. A predetermined distance is formed between the multiple finger portions 32. The distance between the tips of adjacent finger portions 32 is referred to as the "distance between multiple finger portions." The three finger portions 32 are arranged at equal intervals in the circumferential direction around the central axis of the palm portion 30. Two, four, or more finger portions 32 may be provided radially surrounding the palm portion 30.

[0017] The inner surfaces of the fingers 32 are integrally formed with the palm portion 30. The inner surfaces of the fingers 32 are concavely curved. The fingers 32 are solid. The material of the fingers 32 may be the same as or different from that of the palm portion 30. Furthermore, the material does not need to be uniform; it may be a composite material that combines different materials, or may contain additives such as fillers.

[0018] Grip body 28 is formed in a bag shape with an opening on the surface opposite to the surface on which palm portion 30 and finger portions 32 are formed. The opening of grip body 28 is sealed by case 40, and an internal space is formed by the inner surface of grip body 28 and case 40. Grip body 28 and case 40 are fixed together by band 41 wrapped around the outer periphery of grip body 28.

[0019] The case 40 is preferably made of a metal such as stainless steel, or a hard resin such as plastic. The case 40 has a tubular portion (not shown) inserted into the opening of the grip body 28, an upper portion 43 provided at the upper end of the tubular portion, and a joint 44 provided on the upper portion 43. The tubular portion is a cylindrical member. The upper portion 43 is a substantially disk-shaped member. The tubular portion, upper portion 43, and joint 44 are integrally formed. The joint 44 is provided in the center of the upper portion 43. The joint 44 is detachably connected to the detachable portion 24 with a single touch.

[0020] The detachable part 24 is a one-touch joint, one end of which is connected to the adapter plate 23 and the other end of which is connected to the joint 44. The detachable part 24 is connected to the joint 44 when the joint 44 is inserted in the insertion direction with the release part 47 pressed in the insertion direction, and is released from the connection with the joint 44 by pressing the release part 47 in the insertion direction. The detachable part 24 is not limited to a one-touch joint, and may be a joint that is connected to the joint 44 by a screw.

[0021] The detachable unit 24 is provided with an intake / exhaust port 48. The intake / exhaust port 48 is connected to one end of a pipe (not shown). The other end of this pipe is connected to a vacuum generator such as a vacuum pump or a vacuum ejector, for example, via a three-way valve. In this example, a vacuum pump is used as the vacuum generator. The three-way valve has a vacuum port, an intake / exhaust port, and an atmosphere release port. The vacuum port is connected to the vacuum pump, the intake / exhaust port is connected to the gripping device 10, and the atmosphere release port is connected to the atmospheric pressure space. Gas flows from the internal space to the vacuum pump and from the atmospheric pressure space to the internal space through the pipe connected to the intake / exhaust port 48. The detachable unit 24 is fixed to the adapter plate 23 by screwing bolts into the adapter plate 23 through mounting holes (not shown) provided on the top surface.

[0022] When gas is sucked from the internal space of the grip body 28 using a vacuum generator, the palm portion 30 is pulled in the thickness direction (Z direction) together with the gas in the internal space. In other words, a force that deforms the palm portion 30 in the thickness direction (Z direction) is applied to the palm portion 30. In this way, in this embodiment, the gas is used to deform the palm portion 30 in the thickness direction.

[0023] In the gripping device 10, the case 40 side is the base end side in the thickness direction (Z direction) of the palm 30, and the finger portion 32 side opposite the case 40 is the tip end side. The base end side may also be referred to as the upper side, and the tip end side may also be referred to as the lower side.

[0024] The gripping device 10 further includes a gripping aid 11 attached to the plurality of finger portions 32. The gripping aid 11 includes a plurality of aid bodies 51 attached to each of the plurality of finger portions 32. In this embodiment, three aid bodies 51 are attached to the inner surfaces of the three finger portions 32, respectively. The three aid bodies 51 have the same configuration.

[0025] The assisting tool main body 51 is a plate-shaped member. The assisting tool main body 51 is curved concavely to fit the inner surface of the finger portion 32. The assisting tool main body 51 can be formed from a material having elasticity and flexibility, such as natural rubber, synthetic rubber, or various elastomers. The material of the assisting tool main body 51 may be the same as that of the finger portion 32, or may be a different material from that of the finger portion 32. The assisting tool main body 51 is formed integrally with the finger portion 32. The assisting tool main body 51 is adhered to the finger portion 32 using, for example, an adhesive. The material of the adhesive may be the same as that of the finger portion 32, or may be a different material from that of the finger portion 32.

[0026] The auxiliary tool body 51 has a gripping surface 52 that contacts multiple workpieces, an attachment surface 53 that is attached to the finger portion 32, and a side surface 54 adjacent to the gripping surface 52. The gripping surface 52 is the inner surface of the auxiliary tool body 51. The attachment surface 53 is the outer surface of the auxiliary tool body 51. The side surface 54 connects the gripping surface 52 and the attachment surface 53. A pair of side surfaces 54 are arranged symmetrically with the gripping surface 52 and the attachment surface 53 in between.

[0027] The gripping surface 52 has a first gripping surface 52A and a second gripping surface 52B extending from the first gripping surface 52A and inclined relative to the first gripping surface 52A. The gripping surface 52 has a configuration in which the first gripping surface 52A and the second gripping surface 52B are arranged in this order from the base end side (upper side) to the tip end side (lower side). In the assisting tool main body 51, the direction in which the first gripping surface 52A and the second gripping surface 52B are arranged is defined as the length direction, the direction perpendicular to the length direction and in which the pair of side surfaces 54 are arranged is defined as the width direction, and the direction perpendicular to the length direction and the width direction is defined as the thickness direction.

[0028] The mounting surface 53 has a fitting portion 56 into which the finger portion 32 fits. The fitting portion 56 is a concave groove. The finger portion 32 is inserted into the fitting portion 56 to fit.

[0029] The first gripping surface 52A is formed in a trapezoidal shape. In this embodiment, the first gripping surface 52A is formed in an isosceles trapezoid shape, in which the two interior angles at both ends of the lower base of the trapezoid are equal in size, and the two interior angles at both ends of the upper base of the trapezoid are equal in size. The first gripping surface 52A has an upper end corresponding to the upper base of the trapezoid and a lower end corresponding to the lower base of the trapezoid, which extend parallel to each other. The upper end of the first gripping surface 52A is longer than the lower end.

[0030] The second gripping surface 52B is formed in a triangular shape. In this embodiment, the second gripping surface 52B is formed in an isosceles triangle shape with an obtuse apex angle. The area of ​​the second gripping surface 52B is smaller than the area of ​​the first gripping surface 52A. The second gripping surface 52B is inclined so as to approach the central axis of the palm portion 30 from the top to the bottom.

[0031] The side surface 54 has a shape that is bent in the thickness direction of the assisting device main body 51. The side surface 54 has a first side surface 54A adjacent to the first gripping surface 52A and a second side surface 54B adjacent to the second gripping surface 52B. The bent portion of the side surface 54 is the connection portion between the first side surface 54A and the second side surface 54B.

[0032] The gripping aid 11 includes a plurality of protrusions 58 provided on each of a plurality of aid bodies 51. The plurality of protrusions 58 are formed in a hemispherical shape, and have an outer diameter of 0.75 mm or more and 3 mm or less.

[0033] The multiple protrusions 58 include multiple first protrusions 58A provided on the first gripping surface 52A, multiple second protrusions 58B provided on the second gripping surface 52B, and multiple third protrusions 58C provided on the side surface 54. The multiple third protrusions 58C are arranged symmetrically with respect to the gripping surface 52 and the attachment surface 53.

[0034] The outer diameters of the first protrusion 58A, the second protrusion 58B, and the third protrusion 58C are not particularly limited, and may be the same or different.

[0035] In the gripping aid 11, the part of the aid main body 51 having the first gripping surface 52A is sometimes referred to as the base part, the part having the second gripping surface 52B is sometimes referred to as the tip part, and the part having the side surface 54 is sometimes referred to as the side surface part.

[0036] A method for attaching the gripping aid 11 to the finger portions 32 will be described using FIG. 4 . As shown in FIG. 4 , the attachment surface 53 of the aid body 51 is brought into contact with the inner surface 32A of the finger portions 32, and the finger portions 32 are inserted into the fitting portion 56 of the attachment surface 53. The aid body 51 and the finger portions 32 are bonded together using an adhesive. In this manner, the gripping aid 11 is attached to the inner surface 32A of the finger portions 32. The adhesive is preferably applied so as to fill any step formed between the attachment surface 53 and the finger portions 32. By filling the step between the attachment surface 53 and the finger portions 32, adhesion of foreign matter can be suppressed, thereby preventing foreign matter from being mixed into the workpiece W. In this embodiment, the aid body 51 is attached only to the inner surface 32A of the finger portions 32. However, the aid body 51 may be attached to both the inner surface 32A and the outer surface 32B of the finger portions 32.

[0037] Fig. 5 shows the gripping device 10 in an open state and a closed state. Fig. 6 shows a bottom view of the gripping device 10 in a closed state. The left side of Fig. 5 shows the open state, and the right side of Fig. 5 shows the closed state. Fig. 5 shows the palm portion 30, multiple fingers 32, and gripping aid 11 of the gripping device 10, but does not show other members such as the case 40 and band 41.

[0038] As shown in FIG. 5, in the open state, the palm portion 30 is not deformed in the thickness direction, and the tips of the multiple fingers 32 are separated from each other. In the open state, the gripping aid 11 has the side surfaces 54 of the multiple aid main bodies 51 facing diagonally downward, and the side surfaces 54 do not face each other. In the closed state, the palm portion 30 is deformed in the thickness direction, and the multiple fingers 32 are tilted toward the palm portion 30, and the tips of the multiple fingers 32 are close to each other. In the closed state, the gripping aid 11 has the side surfaces 54 of the multiple aid main bodies 51 facing each other, and multiple workpieces W can be gripped by the gripping surfaces 52 of the multiple aid main bodies 51.

[0039] 5 and 6, in the closed state of the gripping aid 11, when the side surfaces 54 of the plurality of aid main bodies 51 face each other, the gap G between the second side surfaces 54B is 5 mm or less. The gripped workpieces W are surrounded by the gripping surfaces 52 of the plurality of aid main bodies 51.

[0040] In this embodiment, the multiple third protrusions 58C are arranged symmetrically across the gripping surface 52 and the attachment surface 53, and therefore, in the closed state, when the side surfaces 54 of the multiple assisting device main bodies 51 face each other, the multiple third protrusions 58C provided on the second side surfaces 54B of each side surface 54 come into contact with each other. When the multiple third protrusions 58C provided on the second side surfaces 54B of each side surface 54 come into contact with each other in this way, the gripping assisting device 11 elastically deforms so that the tip side bends outward.

[0041] (Action and effect) The operation and effects of an industrial robot 12 equipped with the gripping device 10 configured as described above will be described below. Note that the conditions shown below are examples. As shown in FIG. 1, the industrial robot 12 is in an origin state in which the piston rod 20 is retracted into the cylinder tube 19 and the air cylinder 18 is contracted. In the initial state of the gripping device 10, the pressure in the internal space (not shown) of the gripping body 28 is atmospheric pressure. That is, the three-way valve connected to the intake and exhaust port 48 is in a state in which the intake and exhaust port is disconnected from the vacuum port and connected to the atmosphere release port. The gripping device 10 is in a state in which the palm 30 is not deformed in the thickness direction and the tips of the multiple fingers 32 are separated from each other and are in an open state.

[0042] The industrial robot 12 positions the gripping device 10 on the vertical line of the workpiece W placed on the base 26 by moving the movable body 16 along the rail 14. Next, as shown in FIG. 7 , the industrial robot 12 extends the air cylinder 18 by advancing the piston rod 20 from the cylinder tube 19 until the fingers 32 reach the multiple workpieces W.

[0043] Next, the three-way valve is switched so that the intake / exhaust port is disconnected from the atmosphere release port and connected to the vacuum port, causing the gripping device 10 to suck in the gas inside the gripping body 28 through the piping and reduce the pressure in the internal space of the gripping body 28 to, for example, -0.03 MPa or less.

[0044] As shown in FIG. 8 , the palm portion 30 is deformed in the thickness direction (Z direction) as it is sucked into the internal space of the gripping body 28. As the palm portion 30 deforms in the thickness direction, the inner surfaces of the fingers 32 are pulled toward the center of the palm portion 30. This causes the fingers 32 to elastically deform so as to collapse toward the palm portion 30. The gripping device 10 is in a state in which the palm portion 30 is deformed in the thickness direction, and the multiple fingers 32 collapse toward the palm portion 30, resulting in a closed state in which the tips of the multiple fingers 32 approach each other. In the closed state, the gripping auxiliary tool 11 faces the respective side surfaces 54 of the multiple auxiliary tool bodies 51, closing the gaps between the multiple fingers 32. In the closed state, the gripping device 10 is configured so that the multiple workpieces W do not fall out because the gaps between the multiple fingers 32 are closed by the gripping auxiliary tool 11. In this way, in the gripping device 10, by reducing the pressure inside the gripping main body 28, the finger portions 32 close and the gripping auxiliary tool 11 grips a plurality of workpieces W together.

[0045] Next, the industrial robot 12 retracts the piston rod 20 into the cylinder tube 19 and contracts the air cylinder 18, thereby lifting the multiple workpieces W from the base 26. Furthermore, the industrial robot 12 can freely move the multiple workpieces W in the horizontal direction by moving the movable body 16 along the rail 14 and by moving the rail 14 in the Y-axis direction.

[0046] After moving to the desired location, the industrial robot 12 extends the air cylinder 18 by advancing the piston rod 20 from the cylinder tube 19 until the multiple workpieces W come into contact with the base 26. Next, the three-way valve is switched so that the air supply / exhaust port is disconnected from the vacuum port and connected to the atmosphere release port. This causes gas to flow into the internal space of the gripping body 28 from the atmosphere release port through the piping. As the pressure in the internal space of the gripping body 28 returns to atmospheric pressure, the palm 30 is pushed out and returns to its original state. This causes the fingers 32 to open and release the multiple workpieces W.

[0047] Next, the industrial robot 12 retracts the piston rod 20 into the cylinder tube 19 and contracts the air cylinder 18, thereby moving the gripping device 10 away from the plurality of workpieces W. In this way, the industrial robot 12 can grip the plurality of workpieces W placed on the base 26 with the gripping device 10 and move them to a desired position.

[0048] The gripping aid 11 includes a plurality of aid bodies 51 attached to the plurality of fingers 32, respectively. When the plurality of fingers 32 are folded toward the palm 30 in a closed state, the side surfaces 54 of the aid bodies 51 face each other, blocking the gaps between the plurality of fingers 32 and preventing the plurality of workpieces W collectively gripped by the gripping surfaces 52 of the aid bodies 51 from dropping out. Therefore, the gripping aid 11 can efficiently grip a plurality of workpieces W. A gripping device 10 including the gripping aid 11 and an industrial robot 12 including the gripping device 10 can also efficiently grip a plurality of workpieces W. The gripping aid 11 is particularly effective when gripping a plurality of individual workpieces W having outer diameters smaller than the spacing between the plurality of fingers 32.

[0049] The gripping surface 52 has a first gripping surface 52A and a second gripping surface 52B that is inclined relative to the first gripping surface 52A. The gripping aid 11 has the second gripping surface 52B on the tip side of the gripping surface 52 that is bent inward, which further prevents the workpiece W from falling off.

[0050] The side surface 54 has a first side surface 54A adjacent to the first gripping surface 52A and a second side surface 54B adjacent to the second gripping surface 52B. In the closed state, when the side surfaces 54 of the multiple auxiliary tool bodies 51 face each other, the gap G between the second side surfaces 54B of the gripping aid 11 is 5 mm or less, which further prevents the workpiece W from spilling out.

[0051] The gripping aid 11 has a plurality of protrusions 58 provided on each of the plurality of aid bodies 51. The plurality of protrusions 58 reduce the contact area between the gripping aid 11 and the workpiece W, and suppress adhesion of the workpiece W to the gripping aid 11. This allows the gripping aid 11 to more reliably release the plurality of workpieces W that it has gripped. The gripping aid 11 having a plurality of protrusions 58 is particularly effective when gripping a plurality of workpieces W with wet surfaces.

[0052] The plurality of protrusions 58 are formed in a hemispherical shape, and have an outer diameter of 0.75 mm or more and 3 mm or less. This further reduces the contact area of ​​the gripping aid 11 with the workpiece W.

[0053] Each of the multiple auxiliary tool bodies 51 is attached to the inner surface 32A of each of the multiple finger portions 32. The gripping auxiliary tool 11 can grip multiple workpieces W collectively by surrounding them with the gripping surfaces 52 of each of the multiple auxiliary tool bodies 51.

[0054] Although the embodiments have been described above, the present invention is not limited to the above-described embodiments, and can be modified as appropriate within the scope of the spirit of the present invention.

[0055] For example, each of the multiple auxiliary device bodies 51 is not limited to being attached to the inner surface 32A of each of the multiple finger portions 32, but may be attached to the inner surface 32A and the outer surface 32B of each of the multiple finger portions 32.

[0056] The multiple third protrusions 58C are not limited to being arranged symmetrically with respect to the gripping surface 52 and the mounting surface 53, and may be arranged asymmetrically with respect to the gripping surface 52 and the mounting surface 53. Specifically, when the side surfaces 54 of the multiple assisting tool bodies 51 face each other in the closed state, the multiple third protrusions 58C provided on one side surface 54 and the multiple third protrusions 58C provided on the other side surface 54 may be arranged alternately. By having the multiple third protrusions 58C provided on one side surface 54 fit between the multiple third protrusions 58C provided on the other side surface 54, multiple smaller workpieces W can be gripped efficiently.

[0057] The air supply / exhaust port 48 may be connected to a positive pressure source and a three-way valve via a switching valve. The positive pressure source may be a pump or the like that supplies positive pressure to the internal space of the gripping body 28. When the air supply / exhaust port 48 is connected to the positive pressure source, the internal space of the gripping body 28 can be pressurized. When the internal space of the gripping body 28 is pressurized by the positive pressure source, the palm portion 30 is deformed in the thickness direction (opposite the Z direction) as if being pushed from the internal space side to the atmospheric pressure space side. As the palm portion 30 deforms in the thickness direction, the fingers 32 elastically deform so as to collapse in a direction away from the palm portion 30. In other words, the multiple fingers 32 can be opened. Pressurizing the internal space of the gripping body 28 and deforming the palm portion 30 in the thickness direction allows the multiple fingers 32 to open, allowing a desired amount of multiple workpieces W to be gripped simultaneously, improving versatility.

[0058] The gripping device 10 is not limited to the configuration in the above embodiment, in which the palm portion 30 is deformed in the thickness direction by sucking gas from the internal space of the gripping body 28 using a vacuum generator. The gripping device 10 may also be configured to deform the palm portion 30 in the thickness direction using an air cylinder. The air cylinder that deforms the palm portion 30 in the thickness direction includes, for example, a cylinder tube and a piston rod that is movable forward and backward relative to the cylinder tube. The cylinder tube is provided with a pipe through which gas flows. The piston rod is movable forward and backward relative to the cylinder tube. The tip of the piston rod is connected to the back surface of the palm portion 30. When gas is supplied to or discharged from the cylinder tube, the piston rod advances or retreats relative to the cylinder tube, deforming the palm portion 30 in the thickness direction and opening and closing the multiple fingers 32. [Explanation of symbols]

[0059] 10 Gripping device 11 Grasping aids 12 Industrial robots 28 Grip body 30 Palm 32 Finger section 51 Assistive device body 52 Gripping surface 52A 1st gripping surface 52B 2nd gripping surface 53 Mounting surface 54 Side 54A 1st side 54B 2nd side 58 Multiple protrusions 58A 1st protrusion 58B 2nd protrusion 58C 3rd protrusion G Gap double work

Claims

1. A gripping aid attached to a gripping device including a palm portion and a plurality of finger portions provided to protrude from the periphery of the palm portion and that fall toward the palm portion by deforming the palm portion in a thickness direction, a plurality of assisting tool bodies attached to the plurality of finger portions, Each of the plurality of auxiliary tool bodies has a gripping surface that contacts the plurality of workpieces and a side surface adjacent to the gripping surface, In a closed state in which the plurality of finger portions are folded toward the palm portion, the side surfaces of the plurality of auxiliary tool bodies face each other, and the plurality of workpieces are grasped by the grasping surfaces of the plurality of auxiliary tool bodies.

2. The gripping aid according to claim 1 , wherein the gripping surface comprises a first gripping surface and a second gripping surface extending from the first gripping surface and inclined relative to the first gripping surface.

3. the side surface includes a first side surface adjacent to the first gripping surface and a second side surface adjacent to the second gripping surface; The gripping aid according to claim 2, wherein in the closed state, when the side surfaces of the plurality of aid main bodies face each other, the gap between the second side surfaces is 5 mm or less.

4. The gripping aid according to claim 1 , further comprising a plurality of protrusions provided on each of the plurality of aid bodies.

5. The gripping aid according to claim 4, wherein the plurality of protrusions are formed in a hemispherical shape and have an outer diameter of 0.75 mm or more and 3 mm or less.

6. The gripping aid according to claim 4, which grips the plurality of workpieces having wet surfaces.

7. The gripping aid according to claim 1 , wherein each of the plurality of aid bodies is attached to an inner surface of each of the plurality of finger portions.

8. The gripping assisting tool according to claim 1 , which grips the plurality of workpieces that are separate and have outer diameters smaller than the spacing between the plurality of finger portions.

9. A palm portion and a plurality of finger portions provided to protrude from the periphery of the palm portion and tilting toward the palm portion by deforming the palm portion in a thickness direction; A gripping device comprising the gripping aid according to any one of claims 1 to 8 attached to the plurality of finger portions.

10. An industrial robot comprising the gripping device according to claim 9.

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