Soft gripper element and manufacturing method thereof

Abstract

To provide a manufacturing method capable of manufacturing a gripper element so that the variation in deformation operation is reduced. [Solution] A spine material having a shape corresponding to the air chamber is prepared. The spine material is sandwiched between a one-side curable resin material and a other-side curable resin material, with the one-side curable resin material held in a shape corresponding to one side of the air chamber of the element member, and the other-side curable resin material held in a shape corresponding to the other side of the air chamber of the element member. While the spine material remains sandwiched between the one-side curable resin material and the other-side curable resin material, the one-side curable resin material and the other-side curable resin material are cured integrally. After the one-side curable resin material and the other-side curable resin material have cured integrally, the spine material is broken and separated.

Description

[Technical Field]

[0001] The present invention relates to an element member of a soft gripper that softly grips an object, and in particular to an element member of a soft gripper that can softly grip small food ingredients such as corn kernels and soft foods such as daifuku. [Background technology]

[0002] In factories that produce boxed lunches and prepared foods, multiple ingredients are placed in a container and then packaged before shipping. The products manufactured in boxed lunch and prepared food factories are diverse, and products are changed over relatively frequently. This makes it difficult to automate the production line, and most of the work is done manually.

[0003] However, labor shortages are expected to become more serious in the near future. For this reason, automation of each process by introducing robots is being considered, and automation of food plating work is also being considered as part of this.

[0004] In order for a robot to automatically arrange ingredients, it needs a soft gripper that can gently (without damaging) grasp a wide variety of ingredients that are soft and have irregular shapes.

[0005] Conventional patent documents related to soft grippers include, for example, the following Patent Documents 1 and 2. In particular, Patent Document 2 discloses a configuration having radial claw members that can bend both front and back like the tentacles of an octopus (see FIG. 15 (corresponding to FIG. 8C of Patent Document 2)).

[0006] Furthermore, the applicant of the present invention has disclosed in Patent Document 3 a soft gripper that can gently grip small ingredients. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Patent No. 6291553 [Patent Document 2] WO2012 / 148472A2 [Patent Document 3] Patent No. 7373785 Summary of the Invention [Problem to be solved by the invention]

[0008] Each of the multiple element members (e.g., scoop-shaped gripper elements) that make up a soft gripper is generally made of a soft, deformable resin. A number of air passages are provided inside each of them, and the shape of the element member changes when air is injected (pressurized) or suctioned (depressurized) through each passage. The change in shape of each of the multiple element members enables gripping and releasing of an object.

[0009] Conventionally, in order to manufacture an element member having multiple built-in (enclosed) air passages, a method has been adopted in which an outer member and an inner member are manufactured separately, for example, using a mold, and then the members are bonded together.

[0010] Specifically, for example, the outer member has a plurality of parallel rib-like raised portions on its outer surface, and a cavity is formed inside each of the parallel rib-like raised portions as an air passage, and each of the cavities opens into a groove on the inner surface.The outer surface of the inner member is then bonded to the inner surface of the outer member, thereby closing the groove-like opening.

[0011] The element members manufactured by such a conventional method (lamination method) have sufficient flexibility and can be controlled with sufficient reproducibility.

[0012] However, in the case of sealing the groove-shaped opening by bonding a resin outer member and a resin inner member together, it is difficult to sufficiently improve the finishing precision of the cavity serving as the air passage, which can result in large variations in deformation behavior among the multiple manufactured element members. In such cases, it is impossible or extremely difficult to coordinate and control the multiple element members (achieve such adjustment or calibration) so that they can function as a single soft gripper to appropriately grip and release an object.

[0013] Furthermore, prior to considering the present invention, the inventors also considered a manufacturing method in which water-soluble silicone was embedded in the area that would become the air passage, and the water-soluble silicone was then melted after the resin part was integrally molded. However, there was a large variation in the amount of water-soluble silicone that remained undissolved, and it was still difficult to sufficiently improve the precision of the finished cavity that would serve as the air passage (there were quite a few cases in which the presence of undissolved water-soluble silicone prevented air from reaching the depths of the intended cavity area).

[0014] As the inventors of this invention conducted extensive research into manufacturing methods for producing element components that would minimize variations in deformation behavior, they came up with the groundbreaking idea that the air passage (air chamber) does not need to be a so-called "cavity" (it is sufficient if there are small, continuous "gaps") as long as the air passage (air chamber) is capable of passing through it and is sufficiently flexible (deformable).

[0015] The present invention was conceived in light of the above-mentioned background. An object of the present invention is to provide a manufacturing method that can manufacture an element member with reduced variation in deformation behavior. Another object of the present invention is to provide an element member manufactured by such a manufacturing method, and thus a soft gripper. [Means for solving the problem]

[0016] The present invention provides an element member of a soft gripper, the element member having a protruding element on an outer surface with an air chamber inside, the element member being made of a hardening resin material that is flexible after hardening, a broken piece of spine material remaining in the air chamber, the element member having a compressed air supply passage that communicates with the air chamber, the element member being configured so that the tip side of the element member is curved when compressed air is supplied to the compressed air supply passage. A method for manufacturing an element member of a soft gripper includes the steps of: preparing a spine material having a shape corresponding to the air chamber; the one-side curable resin material and the other-side curable resin material are sandwiched between the spine material and the other-side curable resin material, while holding the one-side curable resin material in a shape corresponding to one side of the air chamber of the element member, and holding the other-side curable resin material in a shape corresponding to the other side of the air chamber of the element member; the one-side curable resin material and the other-side curable resin material are cured together while the spine material is sandwiched between the one-side curable resin material and the other-side curable resin material; and the one-side curable resin material and the other-side curable resin material are cured together after they have cured together, while bending and separating the spine material.

[0017] According to the present invention, the one-side curable resin material and the other-side curable resin material are cured integrally with the spine material of a shape corresponding to the air chamber sandwiched (embedded) therein, thereby significantly suppressing the variation in the finish precision of the air passage (air chamber) that occurs in the conventional "lamination method." Meanwhile, by folding and dividing the spine material after the curing process, effective air flow performance to the desired air chamber (more precisely, the void formed corresponding to its outer edge, etc.) can be achieved. As a result, it is possible to manufacture element members (gripper elements) with little variation in deformation behavior with a high yield.

[0018] Generally, the soft gripper element has a plurality of protruding elements on its outer surface, each of which has an air chamber therein.

[0019] In this case, the present invention provides a method for manufacturing soft gripper element members, the element members having a plurality of protruding elements on their outer surfaces, each having an air chamber therein, the element members being made of a hardening resin material that is flexible after hardening, broken pieces of spine material remaining in the air chamber, each of the element members having a compressed air supply path that communicates with the air chamber, each of the element members being configured to bend at its tip when compressed air is supplied to the compressed air supply path, the method comprising the steps of: preparing a spine material having a shape corresponding to the air chamber; a step of sandwiching the spine material between a one-side curable resin material and an other-side curable resin material, holding the one-side curable resin material in a shape corresponding to one side of the air chamber of the element member, and holding the other-side curable resin material in a shape corresponding to the other side of the air chamber of the element member; a step of integrally curing the one-side curable resin material and the other-side curable resin material while the spine material is sandwiched between the one-side curable resin material and the other-side curable resin material; and a step of folding and dividing the spine material after the one-side curable resin material and the other-side curable resin material have integrally cured.

[0020] In this case, the one-side curable resin material and the other-side curable resin material are cured integrally with the spine material of a shape corresponding to the air chamber sandwiched (embedded) therein, so it is possible to significantly suppress the variation in the finish precision of the air passage (air chamber) that occurs in the conventional "lamination method." On the other hand, by folding and dividing the spine material after the curing process, it is possible to achieve effective air flow performance to the desired air chamber (more precisely, the void formed corresponding to its outer edge, etc.). As a result, it is possible to manufacture element members (gripper elements) with little variation in deformation behavior with a high yield.

[0021] In each of the above inventions, the rigidity of the spine material is preferably higher than the rigidity of the curable resin material after it has hardened.

[0022] In this case, the step of breaking and dividing the spine material can be easily carried out.

[0023] Suitable examples of materials include curable resin materials such as silicone, soft polyethylene, soft polypropylene, and soft polyurethane, with a preferred Shore hardness of 10 to 90. On the other hand, the spine material is a resin such as PLA or TPU.

[0024] In each of the above inventions, it is preferable that the spine material is provided with a fragile portion that is easily broken.

[0025] In this case, the step of breaking and dividing the spine material can be carried out more easily.

[0026] The weakened portion may be provided, for example, as a local thin portion, or may be formed by providing a local notch or the like.

[0027] The spine material may correspond to at least a portion of the compressed air supply path in addition to the air chamber.

[0028] The soft gripper element members manufactured by the method of the present invention as described above are also protected by the present application. In addition, the soft gripper employing such element members is also protected by the present application.

[0029] Alternatively, the present invention provides an element member of a soft gripper, the element member having a protruding element on its outer surface with an air chamber inside, the element member being made of a hardening resin material that is flexible after hardening, fragments of the folded spine material remaining in the air chamber, a compressed air supply passage formed in the element member that communicates with the air chamber, and the element member being configured so that the tip side thereof curves when compressed air is supplied to the compressed air supply passage.

[0030] According to the present invention, although fragments of the folded spine material remain in the air chamber, effective air flow performance is achieved in the designed air chamber (more precisely, the voids formed corresponding to the outer edges, etc.). On the other hand, since the present invention can be manufactured by the above-mentioned method of the present invention, variation in the finishing precision of the air passage (air chamber) can be significantly reduced.

[0031] As previously mentioned, the soft gripper element member may have a plurality of protruding elements on its outer surface with air chambers therein.

[0032] In this case, the present invention can be expressed as an element member of a soft gripper, characterized in that the element member has on its outer surface a plurality of protruding elements each having an air chamber therein, the element member is made of a hardening resin material that is flexible after hardening, fragments of the folded spine material remain in the air chamber, each of the element members is formed with a compressed air supply passage that communicates with the air chamber, and each of the element members is configured to curve at its tip side when compressed air is supplied to the compressed air supply passage.

[0033] In this case, too, although fragments of the folded spine material remain in the air chamber, effective air flow performance is achieved in the desired designed air chamber (more precisely, the voids formed corresponding to its outer edge, etc.). On the other hand, since the present invention can be manufactured by the above-mentioned method of the present invention, variation in the finishing precision of the air passage (air chamber) can be significantly reduced.

[0034] The element members of the soft gripper described above have, for example, a scoop shape.

[0035] The present invention also provides a soft gripper that softly grasps an object, comprising a base member positioned above the object, and three or more scoop elements that hang downward from the base member and are arranged adjacent to each other circumferentially in a planar view, each of the scoop elements including an element member of a soft gripper having any of the aforementioned characteristics.

[0036] For example, when the distance between the tips of adjacent scoop elements is adjusted to 30 mm or less, preferably 10 mm or less, and more preferably 5 mm or less when the scoop elements are curved, small ingredients can be suitably gripped. The small gap when the scoop elements are curved is achieved by supplying compressed air to the air chambers of the multiple protruding elements via the compressed air supply path to realize the bending action (scooping action) of the scoop elements. [Effects of the Invention]

[0037] According to the method of the present invention, the one-side curable resin material and the other-side curable resin material are cured integrally with the spine material of a shape corresponding to the air chamber sandwiched (embedded) therein, thereby significantly suppressing the variation in the finish accuracy of the air passage (air chamber) that occurs in the conventional "lamination method." Meanwhile, by folding and dividing the spine material after the curing process, effective air flow performance to the desired air chamber (more precisely, the void formed corresponding to its outer edge, etc.) can be achieved. As a result, it is possible to manufacture element members (gripper elements) with little variation in deformation behavior with a high yield.

[0038] Furthermore, with the soft gripper element member of the present invention, although fragments of the folded spine material remain in the air chamber, effective air flow performance is achieved in the desired designed air chamber (more precisely, the gap formed corresponding to its outer edge, etc.). Meanwhile, since the present invention can be manufactured by the above-mentioned method of the present invention, variation in the finishing precision of the air passage (air chamber) can be significantly reduced. [Brief explanation of the drawings]

[0039] [Figure 1] 1 is a plan photograph of an element member (gripper element) according to a first embodiment of the present invention. [Figure 2] 1 is a perspective photograph of an element member (gripper element) according to a first embodiment of the present invention. [Figure 3] 3(a) and 3(b) are schematic diagrams of an element member (gripper element) according to a first embodiment of the present invention, in which FIG. 3(a) is a top perspective view, FIG. 3(b) is a bottom perspective view, FIG. 3(c) is a plan view, FIG. 3(d) is a front view, FIG. 3(e) is a rear view, FIG. 3(f) is a bottom view, FIG. 3(g) is a right side view, FIG. 3(h) is a left side view, and FIG. 3(i) is a cross-sectional view along line AA in FIG. 3(c). [Figure 4] 4(a) and 4(b) are schematic diagrams of a mold (female mold) used in manufacturing an element member (gripper element) according to the first embodiment of the present invention, in which Figures 4(a) and 4(b) are perspective views, Figure 4(c) is a plan view, Figure 4(d) is a front view, Figure 4(e) is a rear view, Figure 4(f) is a bottom view, Figure 4(g) is a right side view, and Figure 4(h) is a left side view. [Figure 5] 5A and 5B are schematic diagrams of a spine material used in manufacturing an element member (gripper element) according to the first embodiment of the present invention, in which Figures 5A and 5B are perspective views, Figure 5C is a plan view, Figure 5D is a front view, Figure 5E is a rear view, Figure 5F is a bottom view, Figure 5G is a right side view, and Figure 5H is a left side view. [Figure 6] 6(a) and 6(b) are schematic diagrams of a mold (male mold) used in manufacturing an element member (gripper element) according to the first embodiment of the present invention, in which Figures 6(a) and 6(b) are oblique views, Figure 6(c) is a plan view, Figure 6(d) is a front view, Figure 6(e) is a rear view, Figure 6(f) is a bottom view, Figure 6(g) is a right side view, and Figure 6(h) is a left side view. [Figure 7] 7A and 7B are schematic diagrams of a spacer mold used in manufacturing an element member (gripper element) according to the first embodiment of the present invention, in which Figures 7A and 7B are perspective views, Figure 7C is a plan view, Figure 7D is a front view, Figure 7E is a rear view, Figure 7F is a bottom view, Figure 7G is a right side view, and Figure 7H is a left side view. [Figure 8]1 is a perspective photograph of a soft gripper having four element members (gripper elements) according to a first embodiment of the present invention. [Figure 9] 9(a) and 9(b) are schematic diagrams of an element member (gripper element) according to a second embodiment of the present invention, in which FIG. 9(a) is a top perspective view, FIG. 9(b) is a bottom perspective view, FIG. 9(c) is a plan view, FIG. 9(d) is a front view, FIG. 9(e) is a rear view, FIG. 9(f) is a bottom view, FIG. 9(g) is a right side view, and FIG. 9(h) is a left side view. [Figure 10] 10(a) and 10(b) are schematic diagrams of a mold (female mold) used to manufacture an element member (gripper element) according to a second embodiment of the present invention, with FIGS. 10(a) and 10(b) being perspective views, FIG. 10(c) being a plan view, FIG. 10(d) being a front view, FIG. 10(e) being a rear view, FIG. 10(f) being a bottom view, FIG. 10(g) being a right side view, and FIG. 10(h) being a left side view. [Figure 11] 11(a) and 11(b) are schematic diagrams of a spine material used in manufacturing an element member (gripper element) according to a second embodiment of the present invention, in which Figures 11(a) and 11(b) are oblique views, Figure 11(c) is a plan view, Figure 11(d) is a front view, Figure 11(e) is a rear view, Figure 11(f) is a bottom view, Figure 11(g) is a right side view, and Figure 11(h) is a left side view. [Figure 12] 12(a) and 12(b) are schematic diagrams of a mold (male mold) used in manufacturing an element member (gripper element) according to the first embodiment of the present invention, in which Figures 12(a) and 12(b) are oblique views, Figure 12(c) is a plan view, Figure 12(d) is a front view, Figure 12(e) is a rear view, Figure 12(f) is a bottom view, Figure 12(g) is a right side view, and Figure 12(h) is a left side view. [Figure 13] 13(a) and 13(b) are schematic diagrams of a spacer mold used in manufacturing an element member (gripper element) according to the first embodiment of the present invention, in which Figures 13(a) and 13(b) are oblique views, Figure 13(c) is a plan view, Figure 13(d) is a front view, Figure 13(e) is a rear view, Figure 13(f) is a bottom view, Figure 13(g) is a right side view, and Figure 13(h) is a left side view. [Figure 14] FIG. 10 is a schematic diagram of a soft gripper having four element members (gripper elements) according to a second embodiment of the present invention. [Figure 15] FIG. 1 is a schematic diagram showing an example of a conventional soft gripper. DETAILED DESCRIPTION OF THE INVENTION

[0040] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0041] (Configuration of the first embodiment) FIG. 1 is a plan view of an element member (gripper element) 1 according to a first embodiment of the present invention, FIG. 2 is a perspective view of the element member 1 of this embodiment, and FIG. 3 is a schematic view of the element member 1 of this embodiment.

[0042] Figure 3(a) is a top perspective view of the element member 1 of this embodiment, Figure 3(b) is a bottom perspective view of the element member 1 of this embodiment, Figure 3(c) is a plan view of the element member 1 of this embodiment, Figure 3(d) is a front view of the element member 1 of this embodiment, Figure 3(e) is a rear view of the element member 1 of this embodiment, Figure 3(f) is a bottom view of the element member 1 of this embodiment, Figure 3(g) is a right side view of the element member 1 of this embodiment, Figure 3(h) is a left side view of the element member 1 of this embodiment, and Figure 3(i) is a cross-sectional view along line AA of Figure 3(c).

[0043] As shown in FIGS. 1 to 3, the element member 1 of this embodiment has a generally symmetrical scoop shape.

[0044] As shown in each drawing of FIG. 3, the element member 1 of this embodiment includes an outer member (upper member) 10 and an inner member 20 (lower member) in which air chambers (air passages) 31a to 37a are built.

[0045] Because the outer member 10 and the inner member 20 are molded integrally, the specifications of the air chambers 31a to 37a are not substantially affected by the lamination process, which is a major difference from element members manufactured by conventional methods.

[0046] In this embodiment, both the outer member 10 and the inner member 20 are made of silicone. That is, both the outer member 10 and the inner member 20 are made of a hardening resin material that is flexible after hardening.

[0047] The outer member 10 has, on its outer surface (upper surface), protruding elements 31 to 37 having air chambers 31a to 37a therein.

[0048] In this embodiment, in a plan view, the foremost (most distal) protruding element 31 is generally home plate-shaped, the protruding elements 32 to 36 are generally square rod-shaped extending parallel to one another in the left-right direction, and the rearmost protruding element 37 has a generally square rod-shaped portion and a short cylindrical portion with a generally elliptical cross section connected thereto. The generally square rod-shaped portions of the protruding elements 31 to 36 and the protruding element 37 increase in left-right length in this order. Each of the protruding elements 32 to 36 has generally the same width in the front-to-rear direction.

[0049] The rear end of the short cylindrical portion of the rearmost protruding element 37, which has a generally elliptical cross section, is continuous with the compressed air supply source connector 40. As shown in FIG. 3(i), the compressed air supply source connector 40 is provided with a compressed air supply path 40a, which communicates with the air chambers 31a to 37a via a compressed air supply path in the outer member 10 (the area surrounding the divided pieces of the spine material 50, which will be described later).

[0050] In this embodiment, the protruding elements 31-37 are integrally formed as part of the outer member 10, ie, made of silicone.

[0051] Additionally, in this embodiment, the compressed air supply connection 40 is also integrally formed as part of the outer member 10, i.e., made of silicone.

[0052] As an example of dimensions, for example, the tip angle of the triangular portion on the front side of the approximately home plate-shaped protruding element 31 is 60°, the length of the triangular portion in the front-to-back direction is 15 mm, the length of the rectangular portion on the rear side of the approximately home plate-shaped protruding element 31 in the front-to-back direction is 8 mm, and the length of the rectangular portion in the left-to-right direction is 17 mm.

[0053] For example, the length of protruding element 32 in the front-to-back direction is 3 mm and the length in the left-to-right direction is 20 mm, the length of protruding element 33 in the front-to-back direction is 3 mm and the length in the left-to-right direction is 24 mm, the length of protruding element 34 in the front-to-back direction is 3 mm and the length in the left-to-right direction is 27 mm, the length of protruding element 35 in the front-to-back direction is 3 mm and the length in the left-to-right direction is 29 mm, the length of protruding element 36 in the front-to-back direction is 3 mm and the length in the left-to-right direction is 31 mm, and the length of the approximately square bar-shaped portion of protruding element 37 in the front-to-back direction is 5 mm and the length in the left-to-right direction is 33 mm.

[0054] In this embodiment, the gap between two adjacent protruding elements among the protruding elements 31 to 37 in the front-to-rear direction is uniform and is 1 mm. The protruding height of the protruding elements 31 to 37 is also the same, 5 mm (however, the front region of the protruding element 31 forms an inclined surface whose height gradually decreases toward the front). The thickness (height) of the outer member 10 excluding the protruding elements 31 to 37 is 2 mm, and the thickness (height) of the inner member 20 is also 2 mm. As described above, both the outer member 10 and the inner member 20 are scoop-shaped in plan view, with a length of 46 mm in the front-to-rear direction and a maximum length (maximum width) of 46 mm in the left-to-right direction.

[0055] (Manufacturing of the first embodiment) The outer member 10 integrally having the above-described protruding elements 31 to 37 can be manufactured using a mold shown in FIG.

[0056] Figure 4 is a schematic diagram of a mold (female mold) 71 used to manufacture the element member of this embodiment, with Figures 4(a) and 4(b) being perspective views, Figure 4(c) being a plan view, Figure 4(d) being a front view, Figure 4(e) being a rear view, Figure 4(f) being a bottom view, Figure 4(g) being a right side view, and Figure 4(h) being a left side view. The mold (female mold) 71 can be manufactured by, for example, a 3D printer.

[0057] In the first molding process, the mold 71 is combined with a mold (male mold) 72 shown in Figure 6 described below and used as a closed mold, and in the second molding process, a spacer mold 73 shown in Figure 7 described below and a flat lid mold (not shown) are combined with the mold 71 and also used as a closed mold.

[0058] Figure 5 is a schematic diagram of a spine material 50 used in manufacturing an element member of this embodiment, with Figures 5(a) and 5(b) being perspective views, Figure 5(c) being a plan view, Figure 5(d) being a front view, Figure 5(e) being a rear view, Figure 5(f) being a bottom view, Figure 5(g) being a right side view, and Figure 5(h) being a left side view.

[0059] The shape of the spine material 50 is determined based on the shape of the air chambers 31a to 37a designed in each of the protruding elements 31 to 37. The material of the spine material 50 is a resin such as PLA or TPU.

[0060] The spine material 50 of this embodiment has a bilaterally symmetrical shape, with the portion corresponding to protruding element 31 having a front-to-back thickness of 1 mm and a left-to-right length of 15 mm, the portion corresponding to protruding element 32 having a front-to-back thickness of 1 mm and a left-to-right length of 18 mm, the portion corresponding to protruding element 33 having a front-to-back thickness of 1 mm and a left-to-right length of 22 mm, the portion corresponding to protruding element 34 having a front-to-back thickness of 1 mm and a left-to-right length of 25 mm, the portion corresponding to protruding element 35 having a front-to-back thickness of 1 mm and a left-to-right length of 27 mm, the portion corresponding to protruding element 36 having a front-to-back thickness of 1 mm and a left-to-right length of 29 mm, and the portion corresponding to protruding element 37 having a front-to-back thickness of 1 mm and a left-to-right length of 29 mm.

[0061] Furthermore, in the spine material 50 of this embodiment, the gap in the front-to-rear direction between two adjacent portions among the portions corresponding to each of the protruding elements 31 to 37 is uniform and is 3 mm. Furthermore, in the spine material 50 of this embodiment, the height in the protruding height direction is common to the portions corresponding to each of the protruding elements 31 to 37, and is 3 mm.

[0062] The spine material 50 of this embodiment has localized notches 50c at various locations shown in FIG. 5, which provide weak portions that are prone to breaking.

[0063] Figure 6 is a schematic diagram of a mold (male mold) 72 used to manufacture the element member of this embodiment, with Figures 6(a) and 6(b) being perspective views, Figure 6(c) being a plan view, Figure 6(d) being a front view, Figure 6(e) being a rear view, Figure 6(f) being a bottom view, Figure 6(g) being a right side view, and Figure 6(h) being a left side view. The mold (male mold) 72 is a mold having a flat cover plate with a protrusion of generally the same shape and size as the spine material 50 described using Figure 5. The mold (male mold) 72 can also be manufactured, for example, by a 3D printer.

[0064] 7(a) and 7(b) are perspective views, FIG. 7(c) is a plan view, FIG. 7(d) is a front view, FIG. 7(e) is a rear view, FIG. 7(f) is a bottom view, FIG. 7(g) is a right side view, and FIG. 7(h) is a left side view. The spacer mold 73 is a casting mold having a cavity that follows the outer contour of the inner member 10. The spacer mold 73 can also be manufactured by, for example, a 3D printer.

[0065] In the manufacturing method of the element member of this embodiment, first, in the first molding step, a closed mold space (excluding the opening for injecting silicon) is formed using a mold (female mold) 71 shown in FIG. 4 and a mold (male mold) 72 shown in FIG. 6, silicon is injected into the mold space, and the mold space is left for one day to harden temporarily.

[0066] Next, the mold (male mold) 72 is removed, and the spine material 50 is embedded in the temporarily hardened silicone while being positioned in the desired arrangement. At this time, the recesses for embedding the spine material 50 are generally formed by the convex portions of the mold (male mold) 72, making the embedding of the spine material 50 easy.

[0067] Then, a spacer mold 73 shown in FIG. 7 and a flat lid mold (not shown) are attached, and as a second molding step, silicon is again injected (replenished) into the closed mold space.

[0068] As a result, the spine material 50 is sandwiched between the silicon on the upper side (one side) and the silicon on the lower side (the other side).

[0069] Furthermore, the upper (one side) silicon is held in a shape corresponding to the upper (one side) region of the air chambers 31a to 37a of the outer member 10, and the lower (other side) silicon is held in a shape corresponding to the lower (other side) region of the air chambers 31a to 37a of the outer member 10.

[0070] In this state, 1 That is, the spine material 50 is sandwiched between the upper (one side) silicon and the lower (other side) silicon, and the silicon is solidified integrally.

[0071] Thereafter, the spacer mold 73 and the lid mold (not shown) are removed, and the integrally hardened silicon is taken out from the casting mold (female mold) 71.

[0072] Then, for example, by manually deforming the integrally hardened silicon in an appropriate direction multiple times, the built-in spine material 50 is broken and separated. This allows the area around the separated piece of spine material 50 to function as the compressed air supply path leading to the air chambers 31a-37a or the air chambers 31a-37a.

[0073] (Operation and effect of the first embodiment) According to the manufacturing method described above, the upper (one side) silicon and the lower (other side) silicon are hardened together while the spine material 50 of a shape corresponding to the air chambers 31a to 37a is sandwiched (built-in), thereby significantly reducing the variation in the finishing accuracy of the air passage (air chamber) that occurs in the conventional ``bonding method.''

[0074] On the other hand, by folding and dividing the spine material 50 after the silicon has hardened integrally, it is possible to achieve effective air flow performance to the air chambers 31a to 37a (more precisely, the gaps formed corresponding to their outer edges, etc.) designed as desired.

[0075] As a result, it is possible to manufacture element members 1 (gripper elements) with small variations in deformation operation at a high yield.

[0076] In this embodiment, the material rigidity of the spine material 50 is higher than the rigidity of the curable resin material after it has hardened, which makes it easier to perform the step of bending and dividing the spine material 50.

[0077] Furthermore, the spine material 50 of this embodiment is provided with a fragile portion that is easily broken, which makes it easier to carry out the step of breaking and dividing the spine material 50.

[0078] (Installation example of the first embodiment) The element member 1 of this embodiment is configured so that its tip curves when compressed air is supplied to the compressed air supply channel 40a. This can be used to construct a soft gripper, for example, equipped with four such element members 1. FIG. 8 is a perspective photograph of a prototype of such a soft gripper. For example, the separation distance between the tips of adjacent element members 1 can be adjusted to 30 mm or less, preferably 10 mm or less, and more preferably 5 mm or less when the element members 1 are curved, allowing for suitable gripping of small ingredients. In the prototype, applying an air pressure of 120 kPa allowed the tips of the four element members to come into contact with each other (the payload capacity under these specifications was approximately 100 g).

[0079] (Configuration of the second embodiment) Next, FIG. 9 is a schematic diagram of an element member (gripper element) 100 according to a second embodiment of the present invention.

[0080] Figure 9(a) is a top perspective view of the element member 100 of this embodiment, Figure 9(b) is a bottom perspective view of the element member 100 of this embodiment, Figure 9(c) is a plan view of the element member 100 of this embodiment, Figure 9(d) is a front view of the element member 100 of this embodiment, Figure 9(e) is a rear view of the element member 100 of this embodiment, Figure 9(f) is a bottom view of the element member 100 of this embodiment, Figure 9(g) is a right side view of the element member 100 of this embodiment, and Figure 9(h) is a left side view of the element member 100 of this embodiment.

[0081] As shown in FIG. 9, the element member 100 of this embodiment also has a generally symmetrical scoop shape.

[0082] As shown in each drawing of FIG. 9, the element member 100 of this embodiment includes an outer member (upper member) 110 incorporating an air chamber (air passage) and an inner member 120 (lower member).

[0083] Because the outer member 110 and the inner member 120 are molded integrally, the specifications of the air chamber are not substantially affected by the lamination process, which is a major difference from element members manufactured by conventional methods.

[0084] In this embodiment, both the outer member 110 and the inner member 120 are made of silicone. That is, both the outer member 110 and the inner member 120 are made of a hardening resin material that is flexible after hardening.

[0085] The outer member 110 has, on its outer surface (upper surface), protruding elements 131 to 138, 161 to 162 each having an air chamber therein.

[0086] In this embodiment, in a plan view, the foremost (most distal) protruding element 131 is generally home plate shaped, and the protruding elements 132 to 138 are generally square bar shaped and extend parallel to one another in the left-right direction. The protruding elements 132 to 138 have increasing lengths in the left-right direction in this order. Each of the protruding elements 132 to 138 has approximately the same width in the front-to-rear direction.

[0087] Furthermore, in this embodiment, two oblique protruding elements 161 and 162 are provided in a positional relationship such that they form a trapezoid together with the rear side portion of the protruding element 131 and the protruding element 138 in plan view.

[0088] A compressed air supply passage 140a is formed by drilling or the like on the rear surface side of the protruding element 138. The compressed air supply passage 140a is in communication with the air chamber via a compressed air supply passage in the outer member 110 (the area surrounding the segment of the spine material 150, which will be described later).

[0089] The protruding elements 131 to 138 and 161 to 162 in this embodiment are integrally formed with the outer member 110, that is, made of silicon, that is, the protruding elements 131 to 138 and 161 to 162 are also made of a flexible material.

[0090] As an example of dimensions, for example, the tip angle of the triangular portion on the front side of the approximately home plate-shaped protruding element 131 is 80°, the length of the triangular portion in the front-to-back direction is 11 mm, the length of the rectangular portion on the rear side of the approximately home plate-shaped protruding element 131 in the front-to-back direction is 10 mm, and the length of the rectangular portion in the left-to-right direction is 13 mm.

[0091] For example, the length of protruding element 132 in the front-to-back direction is 4 mm and the length in the left-to-right direction is 17 mm, the length of protruding element 133 is 4 mm and the length in the left-to-right direction is 21 mm, the length of protruding element 134 is 4 mm and the length in the front-to-back direction is 25.5 mm, the length of protruding element 135 is 4 mm and the length in the front-to-back direction is 29.5 mm, the length of protruding element 136 is 4 mm and the length in the left-to-right direction is 34 mm, the length of protruding element 137 is 4 mm and the length in the front-to-back direction is 38 mm, and the length of protruding element 138 is 4 mm and the length in the front-to-back direction is 47 mm.

[0092] Furthermore, for example, the length of each of the protruding elements 161 and 162 in the oblique front-to-rear direction is 35 mm (they are symmetrical), the width is 3 mm, and the angle they form is 45°. Regarding the spacing between the protruding elements 161 and 162, the minimum spacing between the inner surfaces facing each other in the left-to-right direction at the front end (located 17 mm rearward from the front end of the protruding element 131 in the front-to-rear direction) is 14.5 mm, and the maximum spacing at the rear end is 42 mm.

[0093] In this embodiment, the gap between two adjacent protruding elements among the protruding elements 131-138 in the front-to-rear direction is uniform and is 1 mm. The protruding height of the protruding elements 131-138 and 161-162 is the same and is 5 mm (however, the front region of the protruding element 131 has an inclined surface whose height gradually decreases toward the front). The thickness (height) of the outer member 110 excluding the protruding elements 131-138 and 161-162 is 2 mm, and the thickness (height) of the inner member 120 is 1.5 mm. As described above, both the outer member 110 and the inner member 120 are scoop-shaped in plan view, with a length of 58 mm in the front-to-rear direction and a maximum length (maximum width) of 55 mm in the left-to-right direction.

[0094] (Manufacturing of the second embodiment) The outer member 110 integrally having the above-described protruding elements 131 to 138, 161 to 162 can be manufactured using a mold shown in FIG.

[0095] 10(a) and 10(b) are perspective views, 10(c) is a plan view, 10(d) is a front view, 10(e) is a rear view, 10(f) is a bottom view, 10(g) is a right side view, and 10(h) is a left side view. The mold (female mold) 171 can be manufactured by, for example, a 3D printer.

[0096] In the first molding process, the mold 171 is combined with a mold (male mold) 172 shown in Figure 11 described below and used as a closed mold, and in the second molding process, a spacer mold 73 and a flat lid mold (not shown) shown in Figure 12 described below and used as a closed mold.

[0097] Figure 11 is a schematic diagram of a spine material 150 used in manufacturing an element member of this embodiment, with Figures 11(a) and 11(b) being perspective views, Figure 11(c) being a plan view, Figure 11(d) being a front view, Figure 11(e) being a rear view, Figure 11(f) being a bottom view, Figure 11(g) being a right side view, and Figure 11(h) being a left side view.

[0098] The shape of the spine material 150 is determined based on the shape of the air chambers designed in each of the protruding elements 131 to 138, 161 to 162. The material of the spine material 150 is a resin such as PLA or TPU.

[0099] The spine material 150 of this embodiment has a bilaterally symmetrical shape, with the portion corresponding to protruding element 131 having a front-to-back thickness of 1.2 mm and a left-to-right length of 11 mm, the portion corresponding to protruding element 132 having a front-to-back thickness of 1.2 mm and a left-to-right length of 15 mm, the portion corresponding to protruding element 133 having a front-to-back thickness of 1.2 mm and a left-to-right length of 19 mm, the portion corresponding to protruding element 134 having a front-to-back thickness of 1.2 mm and a left-to-right length of 23 mm, the portion corresponding to protruding element 135 having a front-to-back thickness of 1.2 mm and a left-to-right length of 27 mm, the portion corresponding to protruding element 136 having a front-to-back thickness of 1.2 mm and a left-to-right length of 32 mm, the portion corresponding to protruding element 137 having a front-to-back thickness of 1.2 mm and a left-to-right length of 36 mm, and the portion corresponding to protruding element 138 having a front-to-back thickness of 37 mm and a left-to-right length of 1.2 mm.

[0100] Furthermore, in the spine material 150 of this embodiment, the portions corresponding to the protruding elements 161 and 162 have an extension length of 31 mm in the front-to-rear diagonal direction and a thickness of 1 mm. The portions corresponding to the protruding elements 161 and 162 and the portion corresponding to the protruding element 138 are connected by a connecting portion having a substantially arc shape.

[0101] Furthermore, in the spine material 150 of this embodiment, the gap in the front-to-rear direction between two adjacent portions among the portions corresponding to each of the protruding elements 131 to 138 is uniform and is 4 mm. Furthermore, in the spine material 150 of this embodiment, the height in the protruding height direction is common to the portions corresponding to each of the protruding elements 131 to 138 and 161 to 162, and is 6 mm.

[0102] The spine material 150 of this embodiment is provided with localized notches 150c at various locations shown in FIG. 11, which provide weak portions that are prone to breaking.

[0103] 12(a) and 12(b) are perspective views, FIG. 12(c) is a plan view, FIG. 12(d) is a front view, FIG. 12(e) is a rear view, FIG. 12(f) is a bottom view, FIG. 12(g) is a right side view, and FIG. 12(h) is a left side view. The mold (male mold) 172 is a mold having a flat cover plate with a protrusion having substantially the same shape and size as the spine material 150 described using FIG. 5. The mold (male mold) 172 can also be manufactured using a 3D printer, for example.

[0104] 13(a) and 13(b) are perspective views, FIG. 13(c) is a plan view, FIG. 13(d) is a front view, FIG. 13(e) is a rear view, FIG. 13(f) is a bottom view, FIG. 13(g) is a right side view, and FIG. 13(h) is a left side view. The spacer mold 173 is a casting mold having a cavity that follows the outer contour of the inner member 110. The spacer mold 173 can also be manufactured by, for example, a 3D printer.

[0105] In the manufacturing method of the element member of this embodiment, first, in the first molding step, a closed mold space (excluding a silicon injection opening not shown) is formed using a mold (female mold) 171 shown in FIG. 10 and a mold (male mold) 172 shown in FIG. 12, and silicon is injected into the mold space and left for one day to harden temporarily.

[0106] Next, the mold (male mold) 172 is removed, and the spine material 150 is embedded in the temporarily hardened silicone while being positioned in the desired arrangement. At this time, the recesses for embedding the spine material 150 are generally formed by the convex portions of the mold (male mold) 172, making it easy to embed the spine material 150.

[0107] Then, a spacer mold 173 shown in FIG. 13 and a flat lid mold (not shown) are attached, and as a second molding step, silicon is again injected (replenished) into the closed mold space.

[0108] As a result, the spine material 150 is sandwiched between the silicon on the upper side (one side) and the silicon on the lower side (the other side).

[0109] In addition, the upper (one side) silicon is held in a shape corresponding to the upper (one side) region of the air chamber of the outer member 110, and the lower (other side) silicon is held in a shape corresponding to the lower (other side) region of the air chamber of the outer member 110.

[0110] In this state, 1 That is, the spine material 150 is sandwiched between the upper (one side) silicon and the lower (other side) silicon, and the silicon is solidified integrally.

[0111] Thereafter, the spacer mold 173 and the lid mold (not shown) are removed, and the integrally hardened silicon is taken out from the casting mold (female mold) 171.

[0112] The integrally hardened silicone is then repeatedly deformed in the appropriate direction, for example by hand, to break and separate the embedded spine material 150. This allows the area around the broken piece of spine material 150 to function as an air chamber or a compressed air supply path leading to the air chamber.

[0113] (Operation and effect of the second embodiment) According to the manufacturing method described above, the upper (one side) silicon and the lower (other side) silicon are hardened together while the spine material 150 of a shape corresponding to the air chamber is sandwiched (built-in), thereby significantly reducing the variation in the finishing accuracy of the air passage (air chamber) that occurs in the conventional "bonding method."

[0114] On the other hand, by folding and dividing the spine material 150 after the silicone has hardened as a single unit, it is possible to achieve effective air flow performance to the desired air chamber (more precisely, the void formed corresponding to its outer edge, etc.).

[0115] As a result, it is possible to manufacture element members 100 (gripper elements) with small variations in deformation operation at a high yield.

[0116] Also in this embodiment, the material rigidity of the spine material 150 is higher than the rigidity of the curable resin material after it has hardened, which makes it easier to perform the step of bending and dividing the spine material 150.

[0117] Furthermore, the spine material 150 of this embodiment also has a fragile portion that is easily broken, which makes it easier to carry out the step of breaking and dividing the spine material 150.

[0118] (Installation example of the second embodiment) The element members 100 of this embodiment also curve at their tips when compressed air is supplied to the compressed air supply path 140a. This can be used to construct a soft gripper, for example, using four of these element members 100. FIG. 14 is a schematic diagram of such a soft gripper. For example, the distance between the tips of adjacent element members can be adjusted to 30 mm or less, preferably 10 mm or less, and more preferably 5 mm or less when the element members are curved, allowing for suitable gripping of small ingredients. In a prototype of this embodiment, applying an air pressure of 120 kPa allowed the tips of four element members to come into contact with each other (the payload capacity under these specifications was approximately 100 g). [Explanation of symbols]

[0119] 1. Element member 10 Outer member 20 Inner member 31~37 Protruding elements 31a~37a Air chamber 40 Compressed air supply connection 40a Compressed air supply line 50 Spine 50c notch 71 Mold (female) 72 Mold (male mold) 73 Spacer type 100 element members 110 Outer member 120 Inner member 131~138 Protruding elements 140a Compressed air supply line 150 Spine wood 150c notch 161~162 Protruding elements 171 Mold (female) 172 Mold (male mold) 173 Spacer type

Claims

1. An element member of a soft gripper, The element member has a protruding element on an outer surface thereof, the protruding element having an air chamber therein; the element member is made of a hardening resin material that is flexible in a hardened state, A fragment of the broken spine material remains in the air chamber, The element member is formed with a compressed air supply passage communicating with the air chamber, The element member is configured so that the tip side thereof is curved when compressed air is supplied to the compressed air supply path.

1. A method for manufacturing a soft gripper element, comprising: providing a spine material having a shape corresponding to the air chamber; a step of sandwiching the spine material between one-side curable resin material and another-side curable resin material, holding the one-side curable resin material in a shape corresponding to one side of the air chamber of the element member, and holding the another-side curable resin material in a shape corresponding to the other side of the air chamber of the element member; a step of integrally curing the one-side curable resin material and the other-side curable resin material while the spine material is sandwiched between the one-side curable resin material and the other-side curable resin material; a step of bending and dividing the spine material after the one-side hardening resin material and the other-side hardening resin material have been integrally hardened; A method comprising:

2. An element member of a soft gripper, The element member has a plurality of protruding elements on an outer surface thereof, each having an air chamber therein; the element member is made of a hardening resin material that is flexible in a hardened state, A fragment of the broken spine material remains in the air chamber, Each of the element members is formed with a compressed air supply passage communicating with the air chamber, Each of the element members is configured to bend at its tip end when compressed air is supplied to the compressed air supply passage.

1. A method for manufacturing a soft gripper element, comprising: providing a spine material having a shape corresponding to the air chamber; a step of sandwiching the spine material between one-side curable resin material and another-side curable resin material, holding the one-side curable resin material in a shape corresponding to one side of the air chamber of the element member, and holding the another-side curable resin material in a shape corresponding to the other side of the air chamber of the element member; a step of integrally curing the one-side curable resin material and the other-side curable resin material while the spine material is sandwiched between the one-side curable resin material and the other-side curable resin material; a step of bending and dividing the spine material after the one-side hardening resin material and the other-side hardening resin material have been integrally hardened; A method comprising:

3. The rigidity of the spine material is higher than the rigidity of the curable resin material after curing.

3. The method according to claim 1 or 2.

4. The spine material has a weak portion that is easily broken.

3. The method according to claim 1 or 2.

5. The spine member also corresponds to at least a portion of the compressed air supply path.

3. The method according to claim 1 or 2.

6. An element member of a soft gripper, The element member has a protruding element on an outer surface thereof, the protruding element having an air chamber therein; the element member is made of a hardening resin material that is flexible in a hardened state, the protruding element is constructed from a flexible material; A fragment of the broken spine material remains in the air chamber, The element member is formed with a compressed air supply passage communicating with the air chamber, The element member is configured so that the tip side thereof is curved when compressed air is supplied to the compressed air supply path. An element member of a soft gripper characterized by:

7. An element member of a soft gripper, The element member has a plurality of protruding elements on an outer surface thereof, each having an air chamber therein; the element member is made of a hardening resin material that is flexible in a hardened state, A fragment of the broken spine material remains in the air chamber, Each of the element members is formed with a compressed air supply passage communicating with the air chamber, Each of the element members is configured to bend at its tip end when compressed air is supplied to the compressed air supply passage. An element member of a soft gripper characterized by:

8. Has a scoop shape 7. An element member of a soft gripper according to claim 5 or 6.

9. A soft gripper that softly grips an object, a base member positioned above the object; Three or more scoop elements hanging downward from the base member and arranged adjacent to each other in a circumferential direction in a plan view; Equipped with Each of the scoop elements comprises a soft gripper element member according to claim 7. A soft gripper characterized by:

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