Gripping device and robot arm

Abstract

To provide a gripping device that can grip an object with minimum necessary force, does not elongate a time until gripping the object even without positioning, can grip the object even if the object is moving or soft, and can grip the object even if the object is significantly small or significantly big, and a robot arm.SOLUTION: A gripping device 10 comprises first gripping means 12 and second gripping means 22 that face each other. The first gripping means 12 comprises: a first housing 13 including a hollow portion; a first variable control part 15 which so makes the first housing 13 as to be movable; a plurality of first contact members 14 contacting the object; first contact member detection means; and a first lock part. The second gripping means 22 comprises: a second housing 23 including a hollow portion; a second variable control part which so makes the second housing 23 as to be movable; a plurality of second contact members 24 contacting the object; second contact member detection means; and a second lock part.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a gripping device for gripping an object and a robot arm equipped with the gripping device. [Background technology]

[0002] Robot hands are currently used in a variety of industrial fields.

[0003] The gripping methods used in robotic hands include, for example, pinching and grasping an object with fingers or claws, and adsorbing an object using vacuum or magnetic force.

[0004] These gripping methods require the number, length, shape, and suction method of fingers and nails to be determined according to the shape, size, weight, material, hardness, etc. of the object, and are suitable when the shape, size, weight, material, hardness, etc. of the object are roughly constant. However, when the shape, size, weight, material, hardness, etc. of the object suddenly changes, it is not possible to respond flexibly, and usually a design change must be made each time. This is a drawback.

[0005] One gripping method that can grip objects of various shapes, sizes, and materials is the universal jamming gripper, which uses the "jamming transition phenomenon" where a material has fluid-like properties when its density is low and solid-like properties when its density is high. This gripper uses a bag filled with powder material such as sand or powder.

[0006] However, although the universal jamming gripper can accommodate sudden changes in the shape, size, and material of the object, it becomes unusable if the bag part is damaged, so it is not suitable for sharp objects.It also has poor durability (bag part) compared to other gripping methods, and due to its structural principle, it has the disadvantage that the gripping part that grips the object must be replaced or redesigned depending on the weight of the object.

[0007] One solution to the above drawbacks is a gripping method using a three-dimensional vice (copying mechanism), as described in Patent Document 1, in which multiple shafts that move independently to correspond to the surface shape of the object are fixed with a displacement restriction mechanism (locking mechanism) that includes an outer ring, an inner ring, rolling elements, and a spring, installed on each shaft, and the object is gripped by contact points at the tips of one end of the multiple shafts. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] Japanese Patent Publication No. 2020-172016 Summary of the Invention [Problem to be solved by the invention]

[0009] However, in the gripping method using a three-dimensional vice described in Patent Document 1, while the fixed parts of the opposing gripping means (trailing units) are fixed to the U-shaped base material, multiple shafts provided on the gripping means move appropriately in the direction of the gap between the pair of gripping means, which poses the problem that unless the object is placed in the center of the pair of gripping means, it takes a long time to grip the object, and there is also the problem that the object cannot be gripped if it moves or is soft.

[0010] Furthermore, in the gripping method using a three-dimensional vice described in Patent Document 1, a spring is installed for each shaft between the contact point with the object and the moving member, so when an object is gripped and moved, the reaction force of the spring installed between the contact point and the moving member can cause deformation or damage to the object depending on the situation, which is a problem.

[0011] Furthermore, with the gripping method using a three-dimensional vice described in Patent Document 1, it is difficult to create a small-sized spring with the required physical properties, etc., so the displacement restriction mechanism cannot be made significantly smaller, and conversely, it is difficult to create a shaft that can withstand the reaction force of a large-sized spring, so the displacement restriction mechanism cannot be made significantly larger, which inevitably creates a problem in that there are upper and lower limits to the size of the gripping means (trailing unit).In other words, with the gripping method using a three-dimensional vice described in Patent Document 1, if the specifications such as size are changed, it is restricted by the displacement restriction mechanism (locking mechanism), so there is a problem in that it is not possible to grip significantly smaller or significantly larger objects.

[0012] The object of the present invention is to provide a gripping device and a robot arm equipped with this gripping device that can grip an object with the minimum necessary force, as if enveloping it, that does not take a long time to grip the object even if the object is not positioned, that can grip even if the object is moving or soft, and that can grip significantly smaller or significantly larger objects by changing the specifications. [Means for solving the problem]

[0013] As a result of extensive research into solving the above-mentioned problems, the inventors discovered that a gripping device or the like that does not use a spring and has a locking section that includes a fixing member made of an assembly of plate-like objects can achieve the above-mentioned object, leading to the invention.

[0014] That is, the gripping device of the present invention is a gripping device that grips an object with a pair of gripping means consisting of a first gripping means and a second gripping means that are arranged at opposing positions, and the gripping device includes a first housing including a hollow portion, a first gripping means having a plurality of first abutment members that penetrate from the inside of the first housing through an opposing surface of the first housing that faces the second gripping means, but do not penetrate through a back surface of the first housing, and abut against the object as desired, a first variable control unit that can appropriately change the position of the first housing, a first abutment member detection means that is housed inside the first housing and detects a first abutment member that has moved to a predetermined position among the plurality of first abutment members, and a first abutment member detection means that is housed inside the first housing and can fix the plurality of first abutment members in an immovable state. a second housing including a hollow portion; second gripping means having a plurality of second abutment members that penetrate from inside the second housing through a surface of the second housing that faces the first gripping means, but do not penetrate a back surface of the second housing, and abut against the object as desired; a second variable control section that can appropriately change the position of the second housing; second abutment member detection means that is housed inside the second housing and detects a second abutment member that has moved to a predetermined position among the plurality of second abutment members; and a second locking section that is housed inside the second housing and includes a second fixing member that is housed inside the second housing and is made of a plate-like assembly that can fix the plurality of second abutment members in an immovable state.

[0015] In the gripping device of the present invention, a configuration can be adopted in which the above-mentioned first fixing member is composed of a combination of a plurality of first abutment member support plates that do not move and a plurality of first abutment member restraint plates that are movable in a direction perpendicular to the direction in which the above-mentioned first abutment members move, and the above-mentioned second fixing member is composed of a combination of a plurality of second abutment member support plates that do not move and a plurality of second abutment member restraint plates that are movable in a direction perpendicular to the direction in which the above-mentioned second abutment members move.

[0016] In the gripping device of the present invention, the above-mentioned gripping device can further adopt a configuration in which it is provided with a pressure adjustment unit used to maintain a predetermined pressure in the hollow portion of the above-mentioned first housing and / or the hollow portion of the above-mentioned second housing.

[0017] In the gripping device of the present invention, the above-mentioned first housing can further have a first fall prevention member that prevents the above-mentioned object from falling, and the above-mentioned second housing can further have a second fall prevention part that includes a second fall prevention member that prevents the above-mentioned object from falling.

[0018] The robot arm of the present invention is characterized by including the above-described gripping device. [Effects of the Invention]

[0019] By using the gripping device of the present invention, there is no need to position the object and / or the gripping means, and even if the position, direction, shape, size, or material of the object is not constant and changes each time, the time required to grip the object is not lengthened, which has the advantage of contributing to shortening the time it takes to move the object.

[0020] The gripping device of the present invention has the advantage that it can be easily moved even when the object is moving or soft.

[0021] By using the gripping device of the present invention, an object can be gripped as if wrapped around with the minimum necessary force, which has the advantage that the object will not be deformed or damaged when moved.

[0022] By using the gripping device of the present invention, there is also the advantage that even if specifications such as size are changed, it is not restricted by the locking mechanism and can grip objects that are significantly smaller or significantly larger.

[0023] The use of the robot arm of the present invention has the advantage that restrictions on the objects that can be moved are lifted, and the same gripping device can be used to grip and move objects of various shapes, sizes, weights, materials, hardness, etc., such as eggs, bowling balls, barbells, tofu, as well as objects of irregular shapes and sharp edges. [Brief explanation of the drawings]

[0024] [Figure 1] 1 is a plan view showing a first embodiment of a gripping device of the present invention. FIG. [Figure 2] FIG. 1 is a perspective view showing a first embodiment of a robot arm of the present invention. [Figure 3] 3 is a partial cross-sectional view showing an example of a first gripping means and a first locking portion used in the gripping device of the present invention. FIG. [Figure 4] FIG. 10 is a partial cross-sectional view showing another example of the first gripping means and the first locking portion used in the gripping device of the present invention. [Figure 5] FIG. 3 is a cross-sectional view showing an example of a contact member used in the gripping device of the present invention. [Figure 6] FIG. 10 is a cross-sectional view showing another example of a contact member used in the gripping device of the present invention. [Figure 7] 10A and 10B are diagrams showing an example of a contact member support plate used in the gripping device of the present invention. [Figure 8] 10A and 10B are diagrams showing an example of a contact member restraining plate used in the gripping device of the present invention. [Figure 9] 10 is a diagram showing an example in which a second fall prevention member is installed on the second housing of the gripping device of the present invention. FIG. [Figure 10] 1 is a perspective view showing an example of a fall prevention part used in the gripping device of the present invention. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0025] Hereinafter, an embodiment of the gripping device of the present invention will be described, however, the present invention is not limited to the following embodiment.

[0026] As shown in FIG. 1, the gripping device 10 has a substrate 11, a pair of gripping means consisting of a first gripping means 12 and a second gripping means 22 arranged in opposing positions, a first variable control unit 15, a first abutment member detection means (not shown), a first locking unit including a first fixing member consisting of a collection of plate-like objects (not shown), a second variable control unit (not shown), a second abutment member detection means (not shown), a second locking unit including a second fixing member consisting of a collection of plate-like objects (not shown), and a calculator (computer) (not shown) that processes various signals.

[0027] The base material 11 is composed of, for example, a gripping means mounting board on which a pair of gripping means are installed, and an arm mounting board that is connected to the robot arm. The gripping means mounting board and the arm mounting board may be separate or may be integrated. The arm mounting board is not necessarily required when the gripping device is used alone.

[0028] The first gripping means 12 comprises a first housing 13 including a hollow portion, and a plurality of first abutment members 14 that come into contact with an object as desired.

[0029] The external shape of the first housing 13 is not particularly limited, and examples thereof include a circle, an ellipse, and a polygon, but a box shape is preferable.

[0030] The shape and size of the hollow portion of the first housing 13 are not particularly limited as long as they can accommodate a portion of the first abutment member including the other end portion, the first abutment member support plate, the first abutment member restraint plate, and the first abutment member detection means.

[0031] When, for example, the first abutment member support plate of the first locking section, the first abutment member restraint plate of the first locking section, and a portion of the first abutment member including the other end portion are stored in the hollow portion of first housing 13, a slit-shaped hollow space is formed between the opposing surface of the first housing and the first abutment member support plate, a slit-shaped hollow space is also formed between the two first abutment member support plates (hereinafter, these two slit-shaped hollow spaces will be referred to as "first slit-shaped hollow spaces"), and a hollow space (hereinafter, referred to as "first rear-side hollow space") is formed on the rear side where portions of the multiple first abutment members including their other end portions are stored.

[0032] The first housing 13 has an opposing surface 13a of the first housing 13 that faces the second gripping means, and is provided with the same number, arrangement, shape and dimensions of communication holes for the first abutment member as the first fixing member of the first locking section, which is composed of a combination of a first abutment member support plate and a first abutment member restraint plate, through which the first abutment member passes.

[0033] As shown in FIG. 1, rear surface 13b of the first housing is different from opposing surface 13a of the first housing in that no through-hole through which the first contact member passes is formed.

[0034] The first abutment member 14a is composed of one end portion 14b that penetrates the opposing surface of the first housing and abuts against an object as desired, a pin-shaped or cylindrical shaft portion 14c that penetrates the first abutment member communicating holes formed in the opposing surface of the first housing, the first abutment member support plate, and the first abutment member restraint plate, and the other end portion 14d that remains inside the first housing without penetrating the back surface of the first housing (Figure 5).

[0035] One end portion 14b of the first contact member is detachable so that it can be changed appropriately depending on the object.

[0036] The material of one end portion 14b of the first abutment member is not particularly limited as long as there is no risk of deforming or damaging the object, and it may be a roughly conical rubber (elastic body) as shown in Figure 5, a suction cup or suction pad that can adsorb the object as shown in Figure 6, a sphere similar to the other end portion of the first abutment member, or a hard material such as plastic or metal.

[0037] The shape of shaft portion 14c of the first abutting member is formed into a substantially pin shape as shown in Fig. 5, but when one end portion of the first abutting member is a suction cup or suction pad, it is preferably formed into a cylindrical shape having hollow portion 14e as shown in Fig. 6. The outer shape of a cross section cut perpendicular to the longitudinal direction of shaft portion 14c of the first abutting member may be, for example, a circle, an ellipse, or a polygon (a triangle, a square including a rectangle, a pentagon, etc.), but when priority is given to ease of manufacture and low manufacturing costs, a circle is preferred, and when priority is given to resistance to slippage and the ability to suppress rotation, a polygon or an ellipse is preferred.

[0038] If shaft portion 14c of first abutting member is cylindrical (FIG. 6), it is preferable to provide first check valve 14f near the other end of first abutting member. When first check valve 14f is provided near the other end of first abutting member, when the lock of the first locking portion is activated, all of the first abutting members become immobile, and then the pressure adjusting portion creates a negative pressure in the first rear side hollow space, which closes first check valve 14f. However, due to the blocked state formed by the suction cup at one end portion 14b of the first abutting member and the object, the pressure in hollow portion 14e of the first abutting member drops to a negative pressure, and the suction cup at one end portion 14b of the first abutting member adsorbs the object. When it is desired to end the gripping of the object by the gripping device, the pressure adjustment unit sets the first rear-side hollow space to a positive pressure, which causes first check valve 14f to move in the opposite direction to when negative pressure is applied and open, causing the suction cups on one end portion 14b of the first abutting member to detach from the object. Simultaneously with or after the suction cups on one end portion 14b of the first abutting member detach from the object, the first locking unit is released and all of the multiple first abutting members become movable.

[0039] The shape of the other end portion 14d of the first abutment member is not particularly limited, but for example, as shown in Figure 3, when the first abutment member detection means 16 is installed on or near the back surface of the first housing 13, the cross-sectional area of ​​the cross section cut perpendicular to the longitudinal direction of the other end portion 14d of the first abutment member must be larger than the first abutment member communicating hole provided on the opposing surface of the first housing 13.However, since it is necessary to use the fluid pressure in the hollow space on the back side of the first housing to pull the tip of the other end portion 14d of the first abutment member that has come into contact with the first abutment member detection means 16 away from the first abutment member detection means 16, the area when the tip of the other end portion 14d of the first abutment member comes into contact with the first abutment member detection means 16 must be smaller than the cross-sectional area of ​​the cross section cut perpendicular to the longitudinal direction of the shaft portion 14c of the first abutment member. In other words, when the first abutment member detection means 16 is installed on or near the back surface of the first housing 13, the shape of the other end portion 14d of the first abutment member must satisfy the two requirements described above, but is not particularly limited as long as it satisfies the two requirements described above, and a spherical shape is preferable, and a truncated cone shape is even more preferable.

[0040] The multiple first abutment members 14 are arranged, for example, in a staggered pattern of 5 columns and 8 rows at equal intervals, but are not limited to this and the arrangement and spacing can be freely designed depending on the shape, size, weight, material, hardness, etc. of the object, but when the shape, size, etc. of the object varies each time, it is preferable that the multiple first abutment members be arranged in a staggered pattern at equal intervals.In particular, when the shape, size, weight, material, hardness, etc. of the object are not fixed, the multiple first abutment members 14 can also be arranged so that the spacing is narrower at the bottom than at the top to make it easier to support the object.

[0041] The shapes and lengths of the multiple first abutment members 14 are flexible enough that they can all be the same as shown in Figure 1, or some of them can have different shapes and / or lengths to suit the object.

[0042] First variable control unit 15 can change the position of first housing 13 as needed. First variable control unit 15 is, for example, as shown in Fig. 1, composed of first variable member 15a coupled to first housing 13 to move first housing 13 to a predetermined position, first conveying member 15c coupled to first variable member 15a to move first variable member 15a to a predetermined position, first guiding member 15b to guide the movement position of first conveying member 15c, and first driving device 15d to apply thrust to first conveying member 15c.

[0043] The first variable member 15a is coupled to the first conveying member 15c and therefore moves via the first conveying member 15c. That is, the first variable member 15a moves along the guide of the first guide member 15b due to the thrust from the first driving device 15d.

[0044] The first variable member 15a may be plate-shaped or may be arc-shaped other than a plate-shaped.

[0045] The joining surface on the side of first housing 13 to which first variable member 15a is joined is not particularly limited, and may be any of the top surface, side surface, bottom surface, or back surface of the first housing, as shown in Fig. 1. The method of joining the first variable member and the first housing is preferably, for example, by fastening with a bolt, but is not particularly limited, and any known joining method can be used.

[0046] The first conveying member 15c and the first guide member 15b are not particularly limited as long as they are mechanical components that can move heavy objects lightly and straight. For example, as shown in Figure 1, a ball circulating linear bearing (hereinafter sometimes referred to as a "linear guide"), a rack and pinion, or a ball screw that performs linear motion by using the rolling of balls can be used.

[0047] The first driving device 15d may be, for example, a motor, a cylinder, or an actuator.

[0048] The first contact member detection means 16 detects the first contact member 14a that has moved to a predetermined position. There are no particular limitations on the first contact member detection means 16, and any known method can be used, such as contact detection, light detection, or pressure detection. However, in order to reduce unnecessary force on the object due to the delay in operation between the first contact member detection means 16 and the locking operation of the first locking section, a sponge-like contact detection device that is flexible enough to return to its original shape is preferred.

[0049] The first contact member detection means 16 is housed inside the first housing 13 in order to effectively prevent erroneous detection or non-detection (FIG. 3). In the case of contact detection or pressure detection, the first contact member detection means 16 is preferably installed on or near the rear surface inside the first housing 13, as shown in FIG. 3, in order to ensure as much movable length as possible for the first contact member.

[0050] The position of the first abutment member detected by the first abutment member detection means 16 is not particularly limited, but in the case of contact detection or pressure detection, it is the tip of the other end portion 14d of the first abutment member, and in the case of light detection, it is preferably the tip or near the tip of the other end portion 14d of the first abutment member in order to effectively utilize the movable length of the first abutment member.

[0051] The detection signal sent from the first contact member detection means is processed by a computing unit disposed outside the first housing, and upon receiving the detection signal sent from the first contact member detection means, the computing unit immediately makes a decision to stop the operation of the first moving device of the first variable control unit.

[0052] When the calculator determines that the first variable control unit should stop the operation of the first moving device, the calculator sends a command signal to the first moving device to stop the operation of the first moving device. When the first moving device receives the command signal from the calculator to stop the operation of the first moving device, the first moving device stops the operation of the first moving device, which in turn stops the operation of the first conveying member, and as a result, the operation of the first variable member stops and the position of the first housing is fixed.

[0053] The first locking section is composed of a first fixing member, which is a collection of plate-like objects stored inside the first housing 13 and which can fix multiple first abutment members 14 in an immovable state, and a first abutment member restraining plate controller 17d, which is located outside the first housing and is used to move part of the first fixing member (first abutment member restraining plates 17b, 17b), and does not use any elastic members such as springs (Figure 3).

[0054] The first fixing member is composed of a combination of one or more first abutment member support plates 17a (Figure 7) and one or more first abutment member restraint plates 17b (Figure 8), but it is preferable that it is composed of a combination of multiple first abutment member support plates 17a and multiple first abutment member restraint plates 17b.

[0055] It is preferable that the number of first fixing members be the same, so that first abutment member support plates 17a and first abutment member restraint plates 17b can be paired together to increase the force that fixes the multiple first abutment members in an immovable state (for example, as shown in Figure 3, two first abutment member support plates 17a, 17a and two first abutment member restraint plates 17b, 17b).

[0056] As shown in FIG. 3, it is preferable that the first contact member support plates 17a and the first contact member restraint plates 17b are arranged alternately with respect to the plurality of first contact members 14 inside the first housing 13.

[0057] When the first contact member support plate is housed inside the first housing, it divides the hollow portion of the first housing. For example, when two first contact member support plates are housed inside the first housing, a first slit-shaped hollow space is formed between the opposing surface of the first housing and the first contact member support plate, and a first slit-shaped hollow space is also formed between the two first contact member support plates.

[0058] As shown in Figures 7 and 8, the first abutment member support plate 17a and the first abutment member restraint plate 17b that constitute the first fixing member have the same number of first abutment member communicating holes 17c as the first abutment members, and have the same arrangement, shape, and dimensions.

[0059] In order to minimize the impact of the first abutment member when it is in contact with the object, it is preferable that a gap exists between the first abutment member communicating hole and the shaft portion of the first abutment member so as to reduce the contact resistance between the first abutment member communicating hole and the shaft portion of the first abutment member as much as possible.

[0060] The first contact member restraining plate may have a structure in which the first contact member communication hole is separated into two parts.

[0061] When the first abutment member communicating holes formed in the first abutment member support plate and the first abutment member restraint plate are aligned with the longitudinal direction of the first abutment member, i.e., when the first abutment member restraint plate is in the initial state position before it moves, the first abutment member support plate and the first abutment member restraint plate do not restrict the movement of the multiple first abutment members that pass through them at all, but when the first abutment member restraint plate moves vertically downward relative to the movement of the first abutment members, the interaction between the first abutment member support plate and the first abutment member restraint plate locks the movement of the multiple first abutment members that pass through, and all of the multiple first abutment members are fixed.

[0062] The first contact member restraint plate controller 17d functions as a power source for moving the first contact member restraint plate 17b, and moves the first contact member restraint plate 17b vertically downward relative to the movement of the plurality of first contact members 14, as desired, and moves the first contact member restraint plate 17b vertically upward relative to the movement of the plurality of first contact members 14. The first contact member restraint plate controller 17d is not particularly limited as long as it functions as a power source for moving the first contact member restraint plate 17b, and examples thereof include a pneumatic piston cylinder and a hydraulic piston cylinder.

[0063] It is preferable to interpose a first rod-shaped body between the first contact member restraint plate controller and the first contact member restraint plate in order to further shorten the time required to move the first contact member restraint plate.

[0064] Upon receiving the detection signal sent from the first abutment member detection means, the calculator immediately determines whether or not to issue a command to start the locking operation of the first locking unit, in accordance with the predetermined timing for starting the locking operation of the first locking unit.

[0065] Examples of timings for starting the locking operation of the predetermined first locking section include immediately after the calculator receives a signal sent from the first abutment member detection means, and immediately after the calculator receives both a signal sent from the first abutment member detection means and a signal sent from the second abutment member detection means.

[0066] When the calculator determines that it is time to start the locking operation of the predetermined first locking unit and decides to issue a command to start the locking operation of the first locking unit, the calculator sends a command signal to the first abutment member restraint plate controller of the first locking unit to move the first abutment member restraint plate vertically downward relative to the movement of the first abutment member.

[0067] When the first abutment member restraint plate controller receives a command signal from the calculator to move the first abutment member restraint plate vertically downward relative to the movement of the first abutment member, it pushes out, for example, a first rod-shaped body so that the first abutment member restraint plate moves vertically downward relative to the movement of the first abutment member.

[0068] When the first abutment member restraint plate moves vertically downward relative to the movement of the first abutment member, of the first abutment member communicating holes arranged at positions coinciding with the longitudinal direction of the first abutment member, only the first abutment member communicating hole of the first abutment member restraint plate shifts vertically downward, and the first abutment member is restrained by the pressing force of the first abutment member restraint plate and the supporting force of the first abutment member support plate, thereby fixing the first abutment member. In other words, as the first abutment member restraint plate moves vertically downward relative to the movement of the first abutment member, the gaps that previously existed between the first abutment member and the first abutment member support plate and between the first abutment member and the first abutment member restraint plate, and which allowed smooth movement of the first abutment member, are blocked, and a guillotine-like force is applied to the first abutment member, which is crimped by the first abutment member support plate and the first abutment member restraint plate, thereby restricting movement of the first abutment member and fixing it.

[0069] The distance that the first abutment member restraint plate moves vertically downward in response to the movement of the first abutment member varies depending on the diameter of the first abutment member. For example, if the diameter of the first abutment member is 8 mm, the movement distance of the first abutment member restraint plate is approximately 0.1 mm.

[0070] In the gripping device of the present invention, in order to effectively prevent the object from falling, the first housing preferably has a first fall prevention member attached to the first housing.

[0071] The first fall prevention member is particularly effective when the object is cylindrical or conical, and the gripping force of multiple first abutment members is considered to be weak. Since the movement of scooping up the bottom of the object is important, it is preferable that the first fall prevention member be able to swing like a pendulum, since this allows the object to slide along the ground surface.

[0072] As shown in Figure 10, the first fall prevention member 18 is composed of a first object support plate 18a, which is roughly spatula-shaped and highly effective in preventing the object from falling, and first U-shaped members 18c, 18d, and 18c used to suspend the first object support plate 18a from the first housing.

[0073] The shape, size, etc. of the first object support plate 18a are not particularly limited as long as they can be inserted into the bottom of the object, scoop up the object from the bottom, and prevent the object from falling. There are no particular limitations on the position where the first object support plate 18a is arranged, but the bottom of the first housing is preferable.

[0074] As shown in FIG. 10 , it is further preferable that the first object support plate 18a be provided with first object retraction belts 18b, 18b, 18b, 18b, which facilitate the retraction of the object. For example, a rubber chain-driven belt may be used as the first object retraction belt 18b. Both ends of the first object retraction belt 18b are fixed near the bottom of the opposing surface of the first housing. When the first object retraction belt 18b is provided on the first object support plate 18a, when the first object support plate 18a moves along the bottom of the object, the first object retraction belt 18b in contact with the object remains stationary. Therefore, the object can be supported from below without the first object support plate 18a scraping against the bottom of the object.

[0075] The first U-shaped members 18c, 18d, 18c are made up of a pair of two first hanging portions 18c, 18c, and one first connecting portion 18d that connects the two first hanging portions 18c, 18c.

[0076] As shown in FIG. 10, the movement of the first fall prevention member 18 is controlled by a first fall prevention member controller 18e, for example.

[0077] The first fall prevention member controller 18e is a power source for moving the first fall prevention member 18, and is not particularly limited as long as it has the functions of fixing the first fall prevention member 18, pushing out the first fall prevention member 18, and pulling back the first fall prevention member 18. For example, it may be a pneumatic piston cylinder (Figure 10) or a hydraulic piston cylinder.

[0078] It is preferable to interpose a first rod-shaped object 18f between the first fall prevention member controller 18e and the first fall prevention member 18, as shown in Figure 10, in order to further shorten the time it takes to move the first fall prevention member 18.

[0079] When the calculator in the first holding means on which the first fall prevention member is installed decides to issue a command to start the locking operation of the first locking section, the calculator sends a command signal to the first fall prevention member controller to release the restraint state of the first fall prevention member.

[0080] When the first fall prevention member controller receives a command signal from the computing unit to release the restrained state of the first fall prevention member, it operates the first U-shaped member of the first fall prevention member in a pushing direction, for example, via the first rod-shaped member, so that the first fall prevention member can swing like a pendulum, thereby releasing the restrained state of the first fall prevention member. At this time, if a first object pulling belt is installed on the first object support plate, the first object pulling belt rotates from the fixed portion of the tip end of the belt fixed to the first housing by the amount of movement of the object support plate, and moves to pull the object toward the first housing so that it can be placed on top.

[0081] In the first holding means in which the first fall prevention member is installed, when the calculator decides to start storing the first fall prevention member, the calculator sends a command signal to the first fall prevention member controller to start storing the first fall prevention member.

[0082] When the first fall prevention member controller receives a command signal from the calculator to start storing the first fall prevention member, it operates the first U-shaped member in the direction of retracting, for example, via the first rod-shaped object, to store the first fall prevention member, so that the first fall prevention member returns to its initial state and is again placed in a restrained state.

[0083] The second gripping means 22 includes a second housing 23 including a hollow portion, and a plurality of second abutment members 24 that come into contact with an object as desired (FIG. 1).

[0084] The external shape of the second housing 23 is not particularly limited, and may be, for example, a circle, an ellipse, a polygon, or the like, but is preferably a box shape.

[0085] The shape and size of the hollow portion of the second housing 23 are not particularly limited as long as they can accommodate a portion of the second abutment member including the other end portion, the second abutment member support plate, the second abutment member restraint plate, and the second abutment member detection means.

[0086] When, for example, the second abutment member support plate of the second locking section, the second abutment member restraint plate of the second locking section, and a portion of the second abutment member including its other end portion are stored in the hollow portion of the second housing 23, a slit-shaped hollow space is formed between the opposing surface of the second housing and the second abutment member support plate, a slit-shaped hollow space is also formed between the two second abutment member support plates (hereinafter, these two slit-shaped hollow spaces will be referred to as "second slit-shaped hollow spaces"), and a hollow space (hereinafter, referred to as "second rear-side hollow space") is formed on the rear side where portions of the multiple second abutment members including their other end portions are stored.

[0087] The second housing 23 has, on the opposing surface of the second housing facing the first gripping means, communication holes for the second abutment member, which are the same in number, arrangement, shape and dimensions as the second fixing member of the second locking section and are composed of a combination of a second abutment member support plate and a second abutment member restraint plate, through which the second abutment member passes.

[0088] Unlike the opposing surface of the second housing, the rear surface of the second housing 23 does not have a through hole formed therein through which the second contact member passes.

[0089] The second abutment member is composed of one end portion that penetrates the opposing surface of the second housing and abuts against an object as desired, a pin-shaped or cylindrical shaft portion that penetrates the second abutment member communicating holes formed in the opposing surface of the second housing, the second abutment member support plate, and the second abutment member restraint plate, and the other end portion that remains inside the second housing without penetrating the back surface of the second housing.

[0090] One end portion of the second contact member is detachable so that it can be appropriately changed depending on the object.

[0091] The material of one end portion of the second abutment member is not particularly limited as long as there is no risk of deforming or damaging the object, and it may be an approximately conical rubber (elastic body), a suction cup or suction pad that can adsorb the object, a sphere similar to the other end portion of the second abutment member, or a hard material such as plastic or metal.

[0092] The shaft portion of the second abutment member is generally pin-shaped, but if one end portion of the second abutment member is a suction cup or suction pad, it is preferably cylindrical. The outer shape of a cross section cut perpendicular to the longitudinal direction of the shaft portion of the second abutment member may be, for example, a circle, an ellipse, or a polygon (a triangle, a square including a rectangle, a pentagon, etc.). If ease of manufacture and low manufacturing costs are important, a circle is preferred, and if resistance to slippage and the ability to suppress rotation are important, a polygon or an ellipse is preferred.

[0093] If the shaft portion of the second abutting member is shaped like a cylinder, it is preferable to provide a second check valve near the other end of the second abutting member. If a second check valve is provided near the other end of the second abutting member, when the lock of the second locking section is activated, the second abutting members are all immobilized, and then the pressure adjusting section creates a negative pressure in the second rear-side hollow space, which closes the second check valve. However, due to the blocked state formed by the suction cup or suction pad at one end of the second abutting member and the object, the pressure inside the cylinder of the second abutting member drops to a negative pressure, and the suction cup or suction pad adsorbs the object. When it is desired to terminate the gripping of the object by the gripping device, the pressure adjustment unit causes the second rear hollow space to be pressurized to a positive pressure, and accordingly the second check valve moves in the reverse direction to restrain the suction cup or suction pad, causing it to detach from the object. Simultaneously with or after the suction cup or suction pad is released from the object, the second locking unit is released and all of the contact members of the second contact unit become movable.

[0094] The shape of the other end portion of the second abutment member is not particularly limited, but for example, when the second abutment member detection means is installed on or near the back surface of the second housing, the cross-sectional area of ​​the other end portion of the second abutment member taken perpendicular to the longitudinal direction thereof must be larger than the second abutment member communicating hole provided on the opposing surface of the second housing. Meanwhile, since it is necessary to separate the tip of the other end portion of the second abutment member that has contacted the second abutment member detection means from the second abutment member detection means by utilizing fluid pressure in the hollow space on the back surface side of the second housing, the area of ​​contact between the tip of the other end portion of the second abutment member and the second abutment member detection means must be smaller than the cross-sectional area of ​​the cross-sectional area taken perpendicular to the longitudinal direction of the shaft portion of the second abutment member. In other words, when the second abutment member detection means is installed on or near the back surface of the second housing, the shape of the other end portion of the second abutment member must satisfy the two requirements described above. However, the shape is not particularly limited as long as it satisfies the two requirements described above. A spherical shape is preferable, and a truncated cone is more preferable.

[0095] The multiple second abutment members 24 are arranged, for example, in a staggered pattern of 5 columns and 8 rows at equal intervals, but are not limited to this and the arrangement and spacing can be freely designed depending on the shape, size, weight, material, hardness, etc. of the object, and when the shape, size, etc. of the object varies each time, it is preferable that the multiple second abutment members be arranged in a staggered pattern at equal intervals. In particular, when the shape, size, weight, material, hardness, etc. of the object are not fixed, the multiple second abutment members can also be arranged so that the spacing is narrower at the bottom than at the top to make it easier to support the object.

[0096] The shapes and lengths of the multiple second abutment members 24 can be all the same as shown in Figure 1, or some of them can have different shapes and / or lengths to suit the object, providing a degree of freedom.

[0097] The second variable control unit can change the position of the second housing as needed. The second variable control unit is, for example, composed of a second variable member coupled to the second housing to move the second housing to a predetermined position, a second conveying member coupled to the second variable member to move the second variable member to the predetermined position, a second guide member that guides the movement position of the second conveying member, and a second driving device that applies thrust to the second conveying member.

[0098] The second variable member is coupled to the second conveying member and therefore moves via the second conveying member, i.e., the second variable member moves along the guide of the second guide member due to the thrust from the second driving device.

[0099] The second variable member may be plate-shaped or may be arc-shaped other than a plate-shaped member.

[0100] The joining surface of the second housing that is joined to the second variable member is not particularly limited, and may be any of the side surface, top surface, bottom surface, and back surface of the second housing. The method of joining the second housing and the second variable member is preferably, for example, by fastening with a bolt, but is not particularly limited, and any known joining method can be used.

[0101] The second conveying member and the second guide member are not particularly limited as long as they are mechanical components that can move heavy objects lightly and straight, but for example, a ball circulating linear bearing (hereinafter sometimes referred to as a "linear guide"), a rack and pinion, or a ball screw, which uses the rolling of balls to perform linear motion, can be used.

[0102] The second guide member is preferably arranged in a position separate from the first guide member and not on the same line, but may be arranged on the same line.

[0103] The second driving device may be, for example, a motor, a cylinder, or an actuator.

[0104] The first variable member moves along the first guide member due to the thrust from the first drive device, and the second variable member moves along the second guide member due to the thrust from the second drive device, so the first variable member and the second variable member move independently. In other words, the first variable control unit and the second variable control unit can be controlled independently, and the movement speed of the first gripping means and the movement speed of the second gripping means may be the same or different.

[0105] The second contact member detection means detects the second contact member that has moved to a predetermined position. The second contact member detection means is not particularly limited and any known method can be used, such as contact detection, light detection, or pressure detection. However, in order to reduce unnecessary force on the object due to an operational delay between the second contact member detection means and the locking operation of the second locking section, a sponge-like contact detection device that is flexible and can return to its original shape is preferred.

[0106] The second contact member detection means is housed inside the second housing to effectively prevent false detection or non-detection. In the case of contact detection or pressure detection, the second contact member detection means is preferably installed on or near the rear surface inside the second housing to ensure as much movable length as possible of the second contact member.

[0107] The position of the second abutment member detected by the second abutment member detection means is not particularly limited, but in the case of contact detection or pressure detection, it is the tip of the other end portion of the second abutment member, and in the case of light detection, it is preferable that it be at or near the tip of the other end portion of the second abutment member in order to effectively utilize the movable length of the second abutment member.

[0108] The detection signal sent from the second contact member detection means is processed by a computing unit disposed outside the second housing, and upon receiving the detection signal sent from the second contact member detection means, the computing unit immediately makes a decision to stop the operation of the second moving device of the second variable control unit.

[0109] When the calculator determines that the second variable control unit should stop the operation of the second moving device, the calculator sends a command signal to the second moving device to stop the operation of the second moving device. When the second moving device receives the command signal from the calculator to stop the operation of the second moving device, the second moving device stops the operation of the second moving device, and accordingly, the operation of the second conveying member stops, and as a result, the operation of the second variable member stops and the position of the second housing is fixed.

[0110] The second locking section is composed of a second fixing member consisting of an assembly of plate-like objects that is housed inside the second housing and enables multiple second abutment members to be fixed in an immovable state, and a second abutment member restraint plate controller that is arranged outside the second housing and is used to move a part of the second fixing member (second abutment member restraint plate), and does not use any elastic members such as springs.

[0111] The second fixing member is composed of a combination of one or more second abutment member support plates and one or more second abutment member restraint plates, but is preferably composed of a combination of multiple second abutment member support plates and multiple second abutment member restraint plates.

[0112] In order to increase the force with which the multiple second abutment members are fixed in an immovable state, it is preferable that the number of second fixing members be the same, so that the second abutment member support plates and the second abutment member restraint plates can be paired together, such as two second abutment member support plates and two second abutment member restraint plates.

[0113] It is preferable that the second contact member support plates and the second contact member restraint plates are housed alternately with respect to the second contact members inside the second housing.

[0114] When the second abutment member support plate is housed inside the second housing, it divides the hollow portion of the second housing. For example, when two second abutment member support plates are housed inside the second housing, a second slit-shaped hollow space is formed between the opposing surface of the second housing and the second abutment member support plate, and a second slit-shaped hollow space is also formed between the two second abutment member support plates.

[0115] All of the second abutment member support plates and all of the second abutment member restraint plates that make up the second fixing member have the same arrangement, shape, and dimensions, and are formed with the same number of second abutment member communicating holes as the second abutment members.

[0116] In order to minimize the impact of the second abutment member when it is in contact with the object, it is preferable that a gap exists between the second abutment member communicating hole and the shaft portion of the second abutment member so as to reduce the contact resistance between the second abutment member communicating hole and the shaft portion of the second abutment member as much as possible.

[0117] When the second abutment member communicating holes formed in the second abutment member support plate and the second abutment member restraint plate are aligned with the longitudinal direction of the second abutment member, i.e., when the second abutment member restraint plate is in the initial state position before it moves, the second abutment member support plate and the second abutment member restraint plate do not restrict the movement of the multiple second abutment members that pass through them at all, but when the second abutment member restraint plate moves vertically downward relative to the movement of the second abutment members, the interaction between the second abutment member support plate and the second abutment member restraint plate locks the movement of the multiple second abutment members that pass through, and all of the multiple second abutment members are fixed.

[0118] The second contact member restraining plate may have a structure in which the second contact member communication hole is separated into two parts.

[0119] When the second abutment member communicating holes formed in the second abutment member support plate and the second abutment member restraint plate are aligned with the longitudinal direction of the second abutment member, that is, in the initial state, the second abutment member support plate and the second abutment member restraint plate do not restrict the movement of the multiple second abutment members that pass through them at all, but after the second abutment member restraint plate moves vertically downward relative to the movement of the second abutment members, the interaction between the second abutment member support plate and the second abutment member restraint plate locks the movement of the multiple second abutment members that pass through, and all of the multiple second abutment members are fixed.

[0120] The second contact member restraint plate controller serves as a power source for moving the second contact member restraint plate, and moves the second contact member restraint plate vertically downward relative to the movement of the second contact member, as desired, and moves the second contact member restraint plate vertically upward relative to the movement of the second contact member. The second contact member restraint plate controller is not particularly limited as long as it serves as a power source for moving the second contact member restraint plate, and examples thereof include a pneumatic piston cylinder and a hydraulic piston cylinder.

[0121] It is preferable to interpose a second rod-shaped body between the second contact member restraint plate controller and the second contact member restraint plate in order to further shorten the time required to move the second contact member restraint plate.

[0122] Upon receiving the detection signal sent from the second abutment member detection means, the calculator immediately determines whether or not to issue a command to start the locking operation of the second locking section, in accordance with the predetermined timing for starting the locking operation of the second locking section.

[0123] Examples of timings for starting the locking operation of the predetermined second locking section include immediately after the calculator receives a signal sent from the second abutment member detection means, and immediately after the calculator receives both a signal sent from the first abutment member detection means and a signal sent from the second abutment member detection means.

[0124] When the calculator determines that it is time to start the locking operation of the predetermined second locking section and decides to issue a command to start the locking operation of the second locking section, the calculator sends a command signal to the second abutment member restraint plate controller of the second locking section to move the second abutment member restraint plate vertically downward relative to the movement of the second abutment member.

[0125] When the second abutment member restraint plate controller receives a command signal from the calculator to move the second abutment member vertically downward relative to the movement of the second abutment member, it pushes out, for example, a second rod-shaped body, and moves the second abutment member restraint plate vertically downward relative to the movement of the second abutment member.

[0126] When the second abutment member restraint plate moves vertically downward relative to the movement of the second abutment member, of the second abutment member communicating holes arranged at positions coinciding with the longitudinal direction of the second abutment member, only the second abutment member communicating hole of the second abutment member restraint plate shifts vertically downward, and the second abutment member is restrained by the pressing force of the second abutment member restraint plate and the supporting force of the second abutment member support plate, thereby fixing the second abutment member. In other words, as the second abutment member restraint plate moves vertically downward relative to the movement of the second abutment member, the gaps that previously existed between the second abutment member and the second abutment member support plate and between the second abutment member and the second abutment member restraint plate, and which allowed smooth movement of the second abutment member, are blocked, and a guillotine-like force is applied to the second abutment member, which is crimped by the second abutment member support plate and the second abutment member restraint plate, thereby restricting movement of the second abutment member and fixing it.

[0127] The distance that the second abutment member restraint plate moves vertically downward in response to the movement of the second abutment member varies depending on the diameter of the second abutment member. For example, if the diameter of the second abutment member is 8 mm, the distance that the second abutment member restraint plate moves is approximately 0.1 mm.

[0128] In the gripping device of the present invention, in order to effectively prevent the object from falling, the second housing 23 preferably has a second fall prevention member 28 attached to the second housing 23 (FIG. 9).

[0129] The second fall prevention member 28 is particularly effective when the object is cylindrical or conical, and the gripping force of multiple second abutment members is considered to be weak. Since the movement of scooping up the bottom of the object is important, it is preferable that the second fall prevention member be able to swing like a pendulum, since this allows the object to slide along the ground surface.

[0130] The second fall prevention member 28 is composed of, for example, a second object support plate 28a that is roughly spatula-shaped and highly effective in preventing the object from falling, and a second U-shaped member 28b that is used to suspend the second object support plate 28a from the second housing 23.

[0131] The shape, size, etc. of the second object support plate 28a are not particularly limited as long as it can be inserted into the bottom of the object, scoop up the object from the bottom, and prevent the object from falling. The position where the second object support plate 28a is disposed is preferably the bottom of the second housing 23.

[0132] It is further preferable that the second object support plate 28a be provided with a second object retraction belt that facilitates retraction of the object. An example of the second object retraction belt is a chain-driven rubber belt. Both ends of the second object retraction belt are fixed near the bottom of the opposing surface of the second housing 23. When the second object retraction belt is provided on the second object support plate 28a, when the second object support plate 28a moves along the bottom of the object, the second object retraction belt that comes into contact with the object remains stationary. Therefore, the object can be supported from below without the second object support plate 28a scraping against the bottom of the object.

[0133] The second U-shaped member includes two pairs of second hanging portions and one second connecting portion connecting the two second hanging portions.

[0134] As shown in FIG. 9, the movement of the second fall prevention member 28 is controlled by a second fall prevention member controller 28e, for example.

[0135] The second fall prevention member controller 28e is a power source for moving the second fall prevention member 28, and is not particularly limited as long as it has the functions of fixing the second fall prevention member 28, pushing out the second fall prevention member 28, and pulling back the second fall prevention member 28. For example, a pneumatic piston cylinder (Figure 9) or a hydraulic piston cylinder may be used.

[0136] It is preferable to interpose a second rod-shaped object 28f between the second fall prevention member controller 28e and the second fall prevention member 28, as shown in Figure 9, in order to further shorten the time it takes to move the second fall prevention member 28.

[0137] When the calculator in the second holding means on which the second fall prevention member is installed decides to issue a command to start the locking operation of the second locking section, the calculator sends a command signal to the second fall prevention member controller to release the restraint state of the second fall prevention member.

[0138] When the second fall prevention member controller receives a command signal from the computing unit to release the restrained state of the second fall prevention member, it operates the second U-shaped member of the second fall prevention member in a pushing direction, for example, via the second rod-shaped member, so that the second fall prevention member can swing like a pendulum, thereby releasing the restrained state of the second fall prevention member. At this time, if a second object pulling belt is installed on the second object support plate, the second object pulling belt rotates from the fixed portion of the tip end of the belt fixed to the second housing by the amount of movement of the object support plate, and moves to pull the object toward the second housing so that it can be placed on top.

[0139] In the second holding means in which the second fall prevention member is installed, when the calculator decides to start storing the second fall prevention member, the calculator sends a command signal to the second fall prevention member controller to start storing the second fall prevention member.

[0140] When the second fall prevention member controller receives a command signal from the calculator to start storing the second fall prevention member, it operates the second U-shaped member in the direction of retracting, for example, via the second rod-shaped object, to store the second fall prevention member, so that the second fall prevention member returns to its initial state and is again placed in a restrained state.

[0141] The gripping device of the present invention preferably includes a pressure adjusting section used to maintain a predetermined pressure in the hollow portion of the first housing and / or the hollow portion of the second housing.

[0142] The pressure adjustment unit is composed of a pressure reducing valve that adjusts the fluid pressure, a switching valve that enables supply and / or exhaust, and a regulator that commands the state of the contact member as needed. In the case of negative pressure, the pressure reducing valve operates and the switching valve switches to the pressure supply side, and in the case of positive pressure, the pressure reducing valve stops and the switching valve switches to the pressure exhaust side.

[0143] In the pressure adjusting section, for example, the following pressure adjustment is performed.

[0144] When the first abutment member is in a state where it protrudes most from the first housing, i.e., when the first abutment member is in its initial state, pressure adjustment is performed to maintain the pressure in the first rear hollow portion at a desired positive pressure, which is required to forcibly push the first abutment member out of the inside of the first housing, and when the second abutment member is in a state where it protrudes most from the second housing, i.e., when the second abutment member is in its initial state, pressure adjustment is performed to maintain the pressure in the second rear hollow portion at a desired positive pressure, which is required to forcibly push the second abutment member out of the inside of the second housing.

[0145] When the first abutment member and / or the second abutment member are cylindrical, pressure adjustment is performed to maintain the first rear side hollow space and / or the second rear side hollow space at the desired negative pressure, which is necessary to obtain the force to attract the object.

[0146] During the period from when the movement of the first housing stops as the object abuts against one of the plurality of first abutment members until all of the first abutment members are fixed, pressure adjustment is performed to maintain the pressure in the first rear-side hollow portion at a desired negative pressure, which is required to slowly push the first abutment member out of the first rear-side hollow space so that the first abutment member can easily return to its initial state in the event of unexpected movement of the first abutment member. During the period from when the movement of the second housing stops as the object abuts against one of the plurality of second abutment members until all of the second abutment members are fixed, pressure adjustment is performed to maintain the pressure in the second rear-side hollow portion at a desired negative pressure, which is required to slowly push the second abutment member out of the second rear-side hollow space so that the second abutment member can easily return to its initial state in the event of unexpected movement of the second abutment member.

[0147] An example of the operation of the gripping device of the present invention from when an object abuts one of the first abutment member and the second abutment member to when the first abutment member and the second abutment member are fixed in an immobile state will be described.

[0148] When the object comes into contact with one of the plurality of first abutment members, the first abutment member detection means detects that the object has come into contact with one of the plurality of first abutment members, and a first abutment member detection signal is sent from the first abutment member detection means to the computing unit. Separately, when the object comes into contact with one of the plurality of second abutment members, the second abutment member detection means detects that the object has come into contact with one of the plurality of second abutment members, and a second abutment member detection signal is sent from the second abutment member detection means to the computing unit.

[0149] The calculator determines to start the locking operation of the first locking unit and the locking operation of the second locking unit when it determines that it has received both the detection signal for the first abutment member sent from the first abutment member detection means and the detection signal for the second abutment member sent from the second abutment member detection means, in accordance with the predetermined timing for starting the locking operation of the first locking unit and the timing for starting the locking operation of the second locking unit, which is immediately after the calculator receives both the signal sent from the first abutment member detection means and the detection signal sent from the second abutment member detection means.

[0150] When the computing unit determines to start the locking operation of the first locking unit, the computing unit sends a signal to the first abutment member restraining plate controller of the first locking unit to operate the first abutment member restraining plate in a direction vertically downward relative to the movement of the first abutment members. When the first abutment member restraining plate controller receives the signal to operate in a direction vertically downward relative to the movement of the first abutment members, the first locking unit is activated and all of the first abutment members are fixed.

[0151] When the computing unit determines to start the locking operation of the second locking unit, the computing unit sends a signal to the second abutment member restraining plate controller of the second locking unit to operate the second abutment member restraining plate in a direction vertically downward relative to the movement of the second abutment members. When the second abutment member restraining plate controller receives the signal to operate in a direction vertically downward relative to the movement of the second abutment members, the second locking unit is activated and all of the second abutment members are fixed.

[0152] An example of the operation of the gripping device of the present invention from when the device is started to just before the contact member comes into contact with the object will be described.

[0153] When the gripping device of the present invention is started, the computing unit sends a command signal to the pressure adjustment unit to set the first rear side hollow space to a predetermined positive pressure, which is necessary to set the first abutment member to the state where it protrudes most from the first housing, i.e., to set the first abutment member to its initial state, and a command signal to set the second rear side hollow space to a predetermined positive pressure, which is necessary to set the second abutment member to the state where it protrudes most from the second housing, i.e., to set the second abutment member to its initial state.

[0154] When the pressure adjustment unit receives a command signal from the calculator to set the first rear side hollow space to a predetermined positive pressure and a command signal to set the second rear side hollow space to a predetermined positive pressure, it stops the pressure reducing valve and switches the switching valve to the pressure exhaust side so that the first rear side hollow space and the second rear side hollow space maintain the predetermined positive pressure.

[0155] Then, all of the first abutment members are pushed out from the first housing, and the first abutment members protrude to the longest extent from the first housing, and all of the second abutment members are pushed out from the second housing, and the second abutment members protrude to the longest extent from the second housing, and all of the first abutment members and all of the second abutment members are in their initial states.

[0156] When all first abutment members and all second abutment members are positioned in their initial state positions, the calculator sends a command signal to the first moving device of the first variable control unit to start operating the first moving device, and sends a command signal to the second moving device of the second variable control unit to start operating the second moving device.

[0157] When the first driving device receives a command signal from the computing unit to start operating the first driving device, the first driving device applies thrust to the first conveying member, so that the first conveying member moves in a direction that shortens the distance to the second guide member, following the guidance of the first guide member, and accordingly the first housing also moves in a direction that shortens the distance to the second housing.

[0158] When the second driving device receives a command signal from the computing unit to start operating the second driving device, the second driving device applies thrust to the second conveying member, so that the second conveying member moves in a direction that shortens the distance to the first guide member, following the guidance of the second guide member, and similarly, the second housing also moves in a direction that shortens the distance to the first housing.

[0159] In the gripping device of the present invention, an example of the operation from when one of the first abutment members abuts against the object, to when the first gripping means and second gripping means wrap around and grip the object, and when the first fall prevention member and second fall prevention member support the object from below will be described.

[0160] When one of the plurality of first contact members comes into contact with an object, the first contact member detection means detects the other end of the first contact member, and a detection signal of the first contact member is sent from the first contact member detection means to the computing unit. Independently, when one of the plurality of second contact members comes into contact with an object, the second contact member detection means detects the other end of the second contact member, and a detection signal of the second contact member is sent from the second contact member detection means to the computing unit.

[0161] When the calculator receives a detection signal of the first abutment member, it decides to stop the operation of the first moving device and sends a command signal to the first moving device to stop the operation of the first moving device. When the first moving device receives the command signal to stop the operation of the first moving device sent from the calculator, it stops applying thrust to the first conveying member, which stops the first conveying member, and as a result, the movement of the first housing also stops and the first housing is fixed.

[0162] When the computing unit receives the detection signal of the first abutment member, it sends a command signal to the pressure adjustment unit to create a predetermined negative pressure (weak negative pressure) in the first rear-side hollow space, which is necessary to slowly push the first abutment member out of the first rear-side hollow space. When the pressure adjustment unit receives the command signal sent from the computing unit to create a predetermined negative pressure (weak negative pressure) in the first rear-side hollow space, it activates the pressure reducing valve, switches the switching valve to the pressure supply side, and supplies the predetermined negative pressure (weak negative pressure) necessary to slowly push the first abutment member out of the first rear-side hollow space to the first rear-side hollow space. In other words, during the period from when the movement of the first housing stops due to an object abutting one of the multiple first abutment members to when all of the first abutment members are fixed, the first abutment members are more likely to return to their initial state in response to unexpected movement of the first abutment members.

[0163] When the calculator receives a detection signal of the second abutment member, it decides to stop the operation of the second moving device and sends a command signal to the second moving device to stop the operation of the second moving device. When the second moving device receives the command signal to stop the operation of the second moving device sent from the calculator, it stops applying thrust to the second conveying member, which stops the second conveying member, and as a result, the movement of the second housing also stops and the second housing is fixed.

[0164] When the computing unit receives the detection signal of the second abutment member, it sends a command signal to the pressure adjustment unit to create a predetermined negative pressure (weak negative pressure) in the second rear-side hollow space, which is necessary to slowly push the second abutment member out of the second rear-side hollow space. When the pressure adjustment unit receives the command signal sent from the computing unit to create a predetermined negative pressure (weak negative pressure) in the second rear-side hollow space, it activates the pressure reducing valve, switches the switching valve to the pressure supply side, and supplies the predetermined negative pressure (weak negative pressure) necessary to slowly push the second abutment member out of the second rear-side hollow space to the second rear-side hollow space. In other words, during the period from when the movement of the second housing stops due to the object abutting one of the multiple second abutment members to when all of the second abutment members are fixed, the second abutment members are more likely to return to their initial state in response to unexpected movement of the second abutment members.

[0165] The calculator also determines whether the detection signal of the first abutment member meets the predetermined timing conditions for starting the locking operation of the first locking section (receiving both the detection signal of the first abutment member and the detection signal of the second abutment member).

[0166] When the calculator determines that the reception of the detection signal of the first abutment member meets the predetermined timing conditions for starting the locking operation of the first locking section, the calculator determines the start of the locking operation of the first locking section and the start of the locking operation of the second locking section.

[0167] If the calculator determines that the reception of the detection signal from the first abutment member does not meet the predetermined conditions for the timing to start the locking operation of the first locking section, the calculator does not decide to start the locking operation of the first locking section or the locking operation of the second locking section, and enters a state of waiting for the detection signal from the second abutment member.

[0168] The calculator also determines whether the detection signal of the second abutment member meets the predetermined timing conditions for starting the locking operation of the second locking section (receiving both the detection signal of the first abutment member and the detection signal of the second abutment member).

[0169] Even if the calculator determines that the reception of the detection signal of the second abutment member meets the predetermined timing conditions for starting the locking operation of the second locking section, the calculator determines the start of the locking operation of the first locking section and the start of the locking operation of the second locking section.

[0170] If the calculator determines that the reception of the detection signal of the second abutment member does not meet the predetermined conditions for the timing of starting the locking operation of the second locking section, the calculator does not decide to start the locking operation of the first locking section and the locking operation of the second locking section, and enters a state of waiting for the detection signal of the first abutment member.

[0171] When the computing unit determines to start the locking operation of the first locking unit, it transmits a command signal to a first contact member restraining plate controller of the first locking unit to move the first contact member restraining plate vertically downward relative to the movement of the first contact member. When the first contact member restraining plate controller receives the command signal transmitted from the computing unit to move the first contact member restraining plate vertically downward relative to the movement of the first contact member, it pushes out the first rod-shaped body so as to move vertically downward relative to the movement of the first contact member, thereby moving the first contact member restraining plate vertically downward relative to the movement of the first contact member. When the first contact member restraining plate moves vertically downward relative to the movement of the first contact member, only the first contact member communicating hole of the first contact member restraining plate, of the first contact member communicating holes arranged at positions coinciding with the longitudinal direction of the first contact member, shifts vertically downward, and the first contact member is restrained by the pressing force of the first contact member restraining plate and the supporting force of the first contact member support plate, thereby fixing the first contact member.

[0172] When the computing unit determines to start the locking operation of the second locking unit, it transmits a command signal to a second abutment member restraining plate controller of the second locking unit to move the second abutment member restraining plate vertically downward relative to the movement of the second abutment member. When the second abutment member restraining plate controller receives the command signal transmitted from the computing unit to move the second abutment member restraining plate vertically downward relative to the movement of the second abutment member, it pushes out the second rod-shaped body so as to move vertically downward relative to the movement of the second abutment member, thereby moving the second abutment member restraining plate vertically downward relative to the movement of the second abutment member. When the second abutment member restraining plate moves vertically downward relative to the movement of the second abutment member, only the second abutment member communicating hole of the second abutment member restraining plate, of the second abutment member communicating holes arranged at positions coinciding with the longitudinal direction of the second abutment member, shifts vertically downward, and the second abutment member is restrained by the pressing force of the second abutment member restraining plate and the supporting force of the second abutment member support plate, thereby fixing the second abutment member.

[0173] As described above, the first housing, the second housing, the second abutment members, and the second abutment members are fixed in a state in which the object is in contact with the plurality of first abutment members and the plurality of second abutment members, so that the object is grasped by the first gripping means and the second gripping means, enveloping it from both side surfaces.

[0174] When the computing unit determines to start the locking operation of the first lock unit, the computing unit also sends a signal commanding the first fall prevention member controller of the first fall prevention unit to release the restrained state of the first fall prevention member. When the first fall prevention member controller receives the signal commanding the release of the restrained state of the first fall prevention member, it operates in a direction pushing out the first U-shaped member so that the first fall prevention member becomes able to swing like a pendulum, thereby releasing the restrained state of the first fall prevention member. When the restrained state of the first fall prevention member is released, the first fall prevention member becomes able to swing like a pendulum, and the first fall prevention member that can swing like a pendulum is inserted into the bottom of the object and then enters a state in which it scoops up the object from the bottom.

[0175] When the computing unit determines to start the locking operation of the second lock unit, the computing unit also sends a signal to the second fall prevention member controller of the second fall prevention unit, commanding the release of the restrained state of the second fall prevention member. When the second fall prevention member controller receives the signal to command the release of the restrained state of the second fall prevention member, it operates in a direction to push out the second U-shaped member so that the second fall prevention member becomes able to swing like a pendulum, thereby releasing the restrained state of the second fall prevention member. When the restrained state of the second fall prevention member is released, the second fall prevention member becomes able to swing like a pendulum, and the second fall prevention member, now able to swing like a pendulum, is inserted into the bottom of the object and then enters a state in which it scoops up the object from the bottom.

[0176] As described above, the first fall prevention member and the second fall prevention member scoop up the object from the bottom, so that the object is supported from below by the first fall prevention member and the second fall prevention member.

[0177] An example of the operation of the gripping device of the present invention from when the object is moved to a desired position until when the first contact member and the second contact member are returned to their initial states will be described.

[0178] When the computing unit determines to start storing the first fall prevention member, the computing unit transmits a command signal to the first fall prevention member controller to start storing the second fall prevention member.When the computing unit determines to start storing the second fall prevention member, the computing unit transmits a command signal to the second fall prevention member controller to start storing the second fall prevention member.

[0179] When the first fall prevention member controller receives a command signal transmitted from the computing unit to start storing the first fall prevention member, the first fall prevention member controller operates, for example, via the first rod-shaped object, the first U-shaped member in the retracting direction to store the first fall prevention member, and the first fall prevention member returns to its initial state and is again in the restrained state.When the second fall prevention member controller receives a command signal transmitted from the computing unit to start storing the second fall prevention member, the second U-shaped member controller operates, for example, via the second rod-shaped object, the second U-shaped member in the retracting direction to store the second fall prevention member, and the second fall prevention member returns to its initial state and is again in the restrained state.

[0180] When the first fall prevention member and the second fall prevention member are again in a restrained state, the calculator sends a command signal to the first drive device of the first variable control unit to resume operation of the first drive device, and sends a command signal to the second drive device of the second variable control unit to resume operation of the second drive device.

[0181] When the first driving device receives a command signal from the computing unit to resume operation of the first driving device, the first driving device applies thrust to the first conveying member, so that the first conveying member moves in a direction increasing the distance between it and the second guide member, following the guidance of the first guide member, and accordingly the first housing also moves in a direction increasing the distance between it and the second housing.

[0182] When the second driving device receives a command signal from the computing unit to resume operation of the second driving device, the second driving device applies thrust to the second conveying member, so that the second conveying member moves in a direction increasing the distance from the first guide member, following the guidance of the second guide member, and similarly, the second housing also moves in a direction increasing the distance from the first housing.

[0183] When the first gripping means and the second gripping means move to a position where they do not affect the object, the pressure adjustment unit, in response to a command from the calculator, sets the first slit-shaped hollow space and the second slit-shaped hollow space to positive pressure, the first abutment member restraint plate moves vertically upward in the direction of movement of the first abutment member, and the first abutment member is now only supported by the first abutment member support plate and the first abutment member restraint plate, and at the same time as the locking operation of the first locking unit is completed, the second abutment member restraint plate moves vertically upward in the direction of movement of the second abutment member, and the second abutment member is now only supported by the second abutment member support plate and the second abutment member restraint plate, and the locking operation of the second locking unit is completed, so that all of the first abutment members and all of the second abutment members are in a movable state.

[0184] Thereafter, the first rear side hollow space and the second rear side hollow space are made positive pressure, and accordingly, all of the first abutment members are pushed out so that the first abutment members protrude to the maximum extent from the first housing, and all of the second abutment members are pushed out so that the second abutment members protrude to the maximum extent from the second housing, thereby completing the process of returning the first abutment members and second abutment members to their initial states.

[0185] The robot arm of the present invention comprises the gripping device of the present invention. In the robot arm of the present invention, the matters already explained in the gripping device of the present invention will not be described again.

[0186] As shown in FIG. 2, the robot arm 40 has an arm section 41 capable of changing the position of the gripping device as needed, a base material (not shown) connected to the arm section 41, a pair of gripping means consisting of a first gripping means 42 and a second gripping means 44 arranged in opposing positions, a first variable control section 43, a first abutment member detection means (not shown), a first locking section including a first fixing member consisting of a collection of plate-like objects (not shown), a second variable control section 45, a second abutment member detection means (not shown), a second locking section including a second fixing member consisting of a collection of plate-like objects (not shown), and a calculator 46 that processes various signals.

[0187] The number of gripping devices of the present invention used in the robot arm of the present invention may be either one or more.

[0188] An example of moving an object using the robot arm of the present invention will be described.

[0189] When the robot arm positions the first gripping means and the second gripping means so as to surround both sides of the object, the first gripping means and the second gripping means continue to move independently of each other in a direction narrowing the distance between them.

[0190] When one of the plurality of first abutment members abuts against the object, the movement of the first housing stops, and when one of the plurality of second abutment members of the second gripping means abuts against the object, the movement of the second housing stops.

[0191] When both one of the plurality of first abutment members and one of the plurality of second abutment members abut against an object, the locking operation of the first locking section and the locking operation of the second locking section are activated, and all of the first abutment members and all of the second abutment members are fixed.

[0192] When both one of the plurality of first abutment members and one of the plurality of second abutment members come into contact with the object, the restraint state of the first fall prevention member is released, and the restraint state of the second fall prevention member is also released, so that each of the first fall prevention member and the second fall prevention member becomes able to swing like a pendulum, and is inserted into the bottom, allowing the object to be scooped up from the bottom.

[0193] The object is gripped by the first gripping means and the second gripping means in an enveloping manner, and is supported from below by the first fall prevention member and the second fall prevention member.

[0194] The object is grasped by the first abutment member and the second abutment member in an enveloping manner and supported from below by the first fall prevention member and the second fall prevention member, and is moved to a desired position by the robot arm.

[0195] When the object has moved to a desired position, the first fall prevention member and the second fall prevention member are pulled up, and the first fall prevention member and the second fall prevention member are again in a restraining state.

[0196] When the first fall prevention member and the second fall prevention member are again in the restrained state, the first housing and the second housing move independently of each other in a direction in which the distance between them increases.

[0197] When the first gripping means (first housing) and the second gripping means (second housing) are moved to a position where they do not affect the object, the first abutment member restraint plate moves vertically upward relative to the movement of the first abutment member, the locking action of the first locking section is released, and all of the first abutment members become movable, and the second abutment member restraint plate also moves vertically upward relative to the movement of the second abutment member, the locking action of the second locking section is released, and all of the second abutment members become movable.

[0198] The first and second housings move independently of each other in the direction in which the gap between them increases, and then stop when they reach their initial positions.

[0199] To return all of the first contact members and all of the second contact members to their initial states, a predetermined positive pressure is applied to the first rear-side hollow space and a predetermined positive pressure is applied to the second rear-side hollow space, and all of the first contact members are then pushed out so that they protrude most from the first housing, and all of the second contact members are also pushed out so that they protrude most from the second housing, completing the process of returning all of the first contact members and all of the second contact members to their initial states.

[0200] When all of the first contact members and all of the second contact members return to their initial states, the pair of gripping means are again ready to grip the object. [Explanation of symbols]

[0201] 10 Gripping device 11 Base material 12 First gripping means 13 First enclosure 13a: Opposing surface of first housing 13b Back of the first housing 14: A plurality of first abutment members 14a first abutment member 14b One end portion of the first abutment member 14c shaft portion of first abutment member 14d: the other end portion of the first abutment member 14e Hollow portion of first contact member 14f First check valve 15 First variable control section 15a first variable member 15b First guide member 15c first conveying member 15d First driving device 16 First contact member detection means 17a First contact member support plate 17b First contact member restraining plate 17c Communication hole for first contact member 17d First contact member restraint plate controller 18 First fall prevention member 18a First object support plate 18b First object retraction belt 18c First hanging part 18d First connection part 18e First fall prevention member controller 18f First rod-shaped object 22 Second gripping means 23 Second enclosure 24 A plurality of second abutment members 28 Second fall prevention member 28a Second object support plate 28b Second U-shaped member 28e Second fall prevention member controller 28f Second stick 30 Objects 40 Robot Arm 41 Arm section 42 First gripping means 43 First variable control section 44 Second gripping means 45 Second variable control section 46 Arithmetic unit

Claims

1. A gripping device for gripping an object by a pair of gripping means, which are arranged at opposing positions and comprise a first gripping means and a second gripping means, The gripping device includes a first housing including a hollow portion, a first gripping means having a plurality of first abutment members that penetrate from inside the first housing through a surface of the first housing facing the second gripping means, do not penetrate through a rear surface of the first housing, and abut against the object as desired, a first variable control section that can appropriately change the position of the first housing, a first abutment member detection means that is housed inside the first housing and detects a first abutment member that has moved to a predetermined position among the plurality of first abutment members, a first locking section that is housed inside the first housing and includes a first fixing member made of an assembly of plate-like objects that can fix the plurality of first abutment members in an immovable state, and a first locking section that can fix the hollow portion. a second gripping means having a second housing including a first gripping means and a second gripping means having a plurality of second abutment members that penetrate from inside the second housing through an opposing surface of the second housing that faces the first gripping means, but do not penetrate a back surface of the second housing, and abut against the object as desired; a second variable control unit that can appropriately change the position of the second housing; a second abutment member detection means that is housed inside the second housing and detects a second abutment member that has moved to a predetermined position among the plurality of second abutment members; and a second locking unit that is housed inside the second housing and includes a second fixing member made of an assembly of plate-like objects that can fix the plurality of second abutment members in an immovable state.

2. The gripping device according to claim 1, characterized in that the first fixed member is composed of a combination of a plurality of first abutment member support plates that do not move and a plurality of first abutment member restraint plates that are movable in a direction perpendicular to the direction of movement of the first abutment members, and the second fixed member is composed of a combination of a plurality of second abutment member support plates that do not move and a plurality of second abutment member restraint plates that are movable in a direction perpendicular to the direction of movement of the second abutment members.

3. The gripping device according to claim 1, further comprising a pressure adjusting unit used to maintain a predetermined pressure in the hollow portion of the first housing and / or the hollow portion of the second housing.

4. The gripping device according to claim 2, further comprising a pressure adjusting unit used to maintain a predetermined pressure in the hollow portion of the first housing and / or the hollow portion of the second housing.

5. The gripping device according to claim 1, characterized in that the first housing further has a first fall prevention member that prevents the object from falling, and the second housing further has a second fall prevention member that prevents the object from falling.

6. The gripping device according to claim 3, characterized in that the first housing further has a first fall prevention member that prevents the object from falling, and the second housing further has a second fall prevention member that prevents the object from falling.

7. The gripping device according to claim 4, characterized in that the first housing further has a first fall prevention member that prevents the object from falling, and the second housing further has a second fall prevention member that prevents the object from falling.

8. A robot arm comprising the gripping device according to any one of claims 1 to 7.

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