Holding device

Abstract

The present invention provides a gripping device that can grip heavy objects, does not require the object to be placed in the center, can grip objects that are easily deformed, effectively suppresses deformation and damage to the object, and can grip the object in a way that envelops it. [Solution] The problem was solved by a gripping device 10 comprising a first housing 13, a first gripping means 12 having a plurality of first contact members 14 that contact an object, a first variable control unit 15 that makes the first housing 13 movable, a first locking unit 16 that fixes the plurality of first contact members 14, a first contact member extrusion plate that pushes out the plurality of first contact members 14, a first position detection means, a second housing 23, a second gripping means 22 having a plurality of second contact members 24 that contact an object, a second variable control unit 25 that makes the second housing 23 movable, a second locking unit 26 that fixes the plurality of second contact members 24, a second contact member extrusion plate that pushes out the plurality of second contact members 24, and a second position detection means.

Description

Technical Field

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

Background Art

[0002] Gripping devices are currently used in various industrial fields.

[0003] Examples of the gripping methods used in gripping devices include those that sandwich and grasp an object with fingers or claws, and those that adsorb an object using vacuum or magnetic force.

[0004] For these gripping methods, it is necessary to determine the number, length, shape, adsorption method, etc. of fingers or claws according to the shape, size, weight, material, hardness, etc. of the object, and to match them to the object. When the shape, size, weight, material, hardness, etc. of the object are almost constant, it is suitable. However, when the shape, size, weight, material, hardness, etc. of the object change rapidly, it is impossible to respond flexibly, and usually, design changes, etc. must be made each time, which has the drawback.

[0005] As a gripping method that enables gripping objects of various shapes, sizes, and materials, there is a bag containing a powder material such as sand or powder that utilizes the "jamming transition phenomenon" which has fluid characteristics when the density is low and solid characteristics when the density is high (universal jamming gripper).

[0006] However, although the universal jamming gripper can cope with rapid changes in the shape, size, and material of the object, it becomes unusable when the bag part is damaged, so it is not suitable for sharp objects, and compared with other gripping methods, it has poor durability (bag part), and from the structural principle, there is a drawback that the gripping part with the object must be replaced or redesigned according to the weight of the object.

[0007] To address the above shortcomings, for example, there is a gripping method using a three-dimensional vise (tracing mechanism) described in Patent Document 1, in which a number of shafts that move independently to correspond to the surface shape of the object are fixed by a displacement restricting mechanism (locking mechanism) provided for each shaft, which includes an outer ring, an inner ring, rolling elements and a spring, and the object is gripped by the contact points at the tips of one end of the number of shafts. [Prior art documents] [Patent Documents]

[0008] [Patent Document 1] Japanese Patent Publication No. 2020-172016 [Overview of the project] [Problems that the invention aims to solve]

[0009] However, the gripping method using a three-dimensional vise described in Patent Document 1 has the problem that, while the fixed parts of opposing gripping means (tracing units) are fixed to a U-shaped base material, multiple shafts provided on the gripping means move as appropriate in the direction of the gap between the pair of gripping means, the object must be positioned in the center of the pair of gripping means. If the object is not in the center of the pair of gripping means, the pair of gripping means must be moved and the object positioned in the center of the pair of gripping means. This not only makes the device for moving the pair of gripping means bulky, but also increases the failure rate, which in turn increases losses due to production line stoppages, for example, when used in a production line. Furthermore, if the object is soft, it cannot be gripped.

[0010] Furthermore, in the gripping method using a three-dimensional vise described in Patent Document 1, a spring is installed between the contact point with the object and the moving member for each shaft. Therefore, when gripping and moving an object, 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 circumstances.

[0011] Furthermore, the gripping method using a three-dimensional vise described in Patent Document 1 has the problem that when gripping heavy objects, it not only requires a large spring, but the reaction force of the large spring increases the likelihood of deformation or damage to the object, and the displacement restricting mechanism (locking mechanism) using the spring cannot be made larger, which inevitably imposes an upper limit on the size of the gripping means (tracing unit). In other words, the gripping method using a three-dimensional vise described in Patent Document 1 has the problem that if the size or other specifications are changed, it is limited by the displacement restricting mechanism (locking mechanism) using the spring, making it impossible to grip heavy objects.

[0012] The object of the present invention is to provide a gripping device that can grip heavy objects (heavy objects), does not require the object to be placed in the center, can grip objects that are easily deformed, effectively suppresses deformation and damage to the object, and can grip the object in a way that envelops it. [Means for solving the problem]

[0013] In order to solve the above problem, the present inventors have conducted extensive research and have come up with a gripping device for gripping an object using a pair of gripping means consisting of a first gripping means and a second gripping means arranged in opposing positions, comprising: a first variable control unit that allows the position of the first gripping means to be changed as appropriate; a first locking unit that does not use a spring and allows all of the multiple first contact members to be fixed in an immovable state by the interaction of multiple first contact member support plates and multiple first contact member restraint plates; a first contact member extrusion plate used to push out all of the multiple first contact members; and a predetermined The present invention was made by discovering that a gripping device comprising a first position detection means for detecting a first contact member extrusion plate that has moved to a certain position, a second variable control unit that can appropriately change the position of the second gripping means, a second locking unit that can fix all of the multiple second contact members in an immovable state by the interaction of multiple second contact member support plates and multiple second contact member restraint plates without using a spring, a second contact member extrusion plate used to push out all of the multiple second contact members, and a second position detection means for detecting the second contact member extrusion plate achieves the above objective.

[0014] That is, the gripping device of the present invention is a gripping device that grips an object by a pair of gripping means consisting of a first gripping means and a second gripping means arranged in opposing positions, the gripping device having a first housing including a hollow portion, a first gripping means having a plurality of first contact members that penetrate the opposing surface of the first housing facing the second gripping means from inside the first housing, but do not penetrate the back of the first housing, and optionally contact the object, a first variable control unit that can appropriately change the position of the first gripping means, and each of the plurality of first contact members housed inside the first housing A first locking mechanism includes a plurality of immovable first contact member support plates, each having a corresponding first contact member support plate communication hole, and a plurality of first contact member restraint plates housed inside the first housing, each having a first contact member restraint plate communication hole corresponding to one of the plurality of first contact members, and being movable in a direction perpendicular to the direction in which the first contact members move, wherein the interaction of the plurality of first contact member support plates and the plurality of first contact member restraint plates allows all of the plurality of first contact members to be fixed in an immovable state, and a first locking mechanism housed inside the first housing for pushing out all of the plurality of first contact members A second gripping means having a first contact member extruded plate to be used, a first position detection means disposed outside or inside the first housing for detecting the first contact member extruded plate when it has moved to a predetermined position, a second housing including a hollow portion, a plurality of second contact members that penetrate the opposing surface of the second housing facing the first gripping means from inside the second housing, but do not penetrate the back of the second housing, and optionally contact the object, a second variable control unit that allows the position of the second gripping means to be changed as appropriate, and a second contact member support housed inside the second housing corresponding to each of the plurality of second contact members A second locking mechanism includes a plurality of immovable second contact member support plates having plate communication holes formed therein, a plurality of second contact member restraint plates housed inside the second housing, each having a second contact member restraint plate communication hole corresponding to each of the plurality of second contact members, and movable in a direction perpendicular to the direction in which the second contact members move, wherein the interaction of the plurality of second contact member support plates and the plurality of second contact member restraint plates allows all of the plurality of second contact members to be fixed in an immovable state, and a second contact member extrusion plate housed inside the second housing and used to push out all of the plurality of second contact members,The system is characterized by comprising: a second position detection means, which is disposed outside or inside the second housing and detects the second contact member extrusion plate when it has moved to a predetermined position.

[0015] The gripping device of the present invention may further include a first contact member detection means housed inside the first housing described above for detecting a first contact member that has moved to a predetermined position among the plurality of first contact members described above, and a second contact member detection means housed inside the second housing described above for detecting a second contact member that has moved to a predetermined position among the plurality of second contact members described above.

[0016] In the gripping device of the present invention, a configuration can be adopted in which the above-mentioned plurality of first contact members have a plurality of annular grooves or at least one helical groove on their outer circumferential surface, and the above-mentioned plurality of second contact members have a plurality of annular grooves or at least one helical groove on their outer circumferential surface.

[0017] In the gripping device of the present invention, a configuration can be adopted in which a lubricating material that does not hinder the movement and fixing of the first contact member is inserted between the first contact member support plate communication hole and the first contact member, and a lubricating material that does not hinder the movement and fixing of the second contact member is inserted between the second contact member support plate communication hole and the second contact member.

[0018] In the gripping device of the present invention, the above-mentioned first contact member restraint plate communication hole may be oval-shaped or a Daruma doll shape formed by combining the arcs of two circles of different diameters, and the above-mentioned second contact member restraint plate communication hole may also be oval-shaped or a Daruma doll shape formed by combining the arcs of two circles of different diameters.

[0019] In the gripping device of the present invention, the above-described first locking unit detects the first contact member that has moved to a predetermined position via the first contact member extrusion plate that has moved to a predetermined position using the above-described first position detection means, and detects the second contact member that has moved to a predetermined position via the second contact member extrusion plate that has moved to a predetermined position using the above-described second position detection means, and then fixes the above-described plurality of first contact members in an immovable state. The above-described second locking unit detects the second contact member that has moved to a predetermined position via the second contact member extrusion plate that has moved to a predetermined position using the above-described second position detection means, and detects the first contact member that has moved to a predetermined position via the first contact member extrusion plate that has moved to a predetermined position using the above-described first position detection means. A configuration can be adopted in which, after detecting a contact member, the above-mentioned plurality of second contact members are fixed in an immovable state. The above-mentioned first locking unit detects the first contact member that has moved to a predetermined position using the above-mentioned first contact member detection means, and after detecting the second contact member that has moved to a predetermined position using the above-mentioned second contact member detection means, fixes the above-mentioned plurality of first contact members in an immovable state. The above-mentioned second locking unit detects the second contact member that has moved to a predetermined position using the above-mentioned second contact member detection means, and after detecting the first contact member that has moved to a predetermined position using the above-mentioned first contact member detection means, fixes the above-mentioned plurality of second contact members in an immovable state.

[0020] The gripping device of the present invention is further characterized by having a forklift fork insertion path into which the forks of a forklift are inserted. [Effects of the Invention]

[0021] By using the gripping device of the present invention, even heavy objects can be gripped in a way that envelops them, and deformation or damage to the object during its movement is minimized.

[0022] By using the gripping device of the present invention, the positioning operation of the object and / or the gripping means becomes unnecessary. Therefore, even when the position, direction, shape, size, and material of the object are not constant and change each time, not only can the object be gripped, but there is also an advantage that the entire device does not become large-scale.

[0023] By using the gripping device of the present invention, even if the object is easily deformable, there is also an advantage that it can be moved.

[0024] In the gripping device of the present invention, when there is a fork claw insertion path into which the claw of a forklift is inserted, in combination with the forklift, unlike a robot arm, there is an advantage that the object can be freely moved from the gripped position to the necessary position.

Brief Description of the Drawings

[0025] [Figure 1] It is a perspective view showing a state where a part of the base material of one embodiment of the gripping device of the present invention is removed. [Figure 2] It is a rear-side perspective view showing another embodiment of the gripping device of the present invention. [Figure 3] It is a perspective view showing an example of a state where another embodiment of the gripping device of the present invention is combined with a forklift. [Figure 4] It is a partial cross-sectional view showing a state where another example of the first contact member and another example of the second contact member used in the gripping device of the present invention grip an object. [Figure 5] It is a view showing an example of the contact member used in the gripping device of the present invention. [Figure 6] It is a view showing another example of the contact member used in the gripping device of the present invention. [Figure 7] It is a view showing another example of the contact member used in the gripping device of the present invention. [Figure 8] It is a view showing an example of the contact member support plate used in the gripping device of the present invention. [Figure 9] It is a view showing another example of the contact member support plate used in the gripping device of the present invention. [Figure 10] This figure shows an example of a contact member restraint plate used in the gripping device of the present invention. [Figure 11] This figure shows another example of a contact member restraint plate used in the gripping device of the present invention. [Figure 12] This is a partial cross-sectional view showing an example of the initial state of the gripping means, locking part, contact member extrusion plate, and extrusion device used in the gripping device of the present invention. [Figure 13] This is a partial cross-sectional view showing an example of the state immediately before the locking operation of the locking mechanism of the gripping device, the locking mechanism, the contact member extrusion plate, and the extrusion device used in the gripping device of the present invention. [Figure 14] This is a partial cross-sectional view showing an example of the state after the locking operation of the locking mechanism, the gripping means, the locking mechanism, the contact member extrusion plate, and the extrusion device used in the gripping device of the present invention. [Figure 15] This is a partial cross-sectional view showing another example of the initial state of the gripping means, locking part, contact member extrusion plate, and extrusion device used in the gripping device of the present invention. [Figure 16] This is a partial cross-sectional view showing an example of the state immediately after the gripping means starts operating, relating to the gripping device, locking part, contact member extrusion plate, and extrusion device used in the gripping device of the present invention. [Figure 17] This is a partial cross-sectional view showing another example of the gripping means, locking part, contact member extrusion plate, and extrusion device used in the gripping device of the present invention, specifically the state immediately before the locking operation of the locking part. [Figure 18] This is a partial cross-sectional view showing another example of the state after the locking operation of the locking mechanism, the gripping means, the locking part, the contact member extrusion plate, and the extrusion device used in the gripping device of the present invention. [Modes for carrying out the invention]

[0026] The following describes embodiments of the gripping device of the present invention. However, the present invention is not limited to the following embodiments.

[0027] The gripping device 10 of the present invention comprises a base material 11, a first housing 13 including a hollow portion, a first gripping means 12 having a plurality of first contact members 14 that contact an object as desired, a first variable control unit 15, a first locking unit 16, a first contact member extrusion plate 17a, a first position detection means, a first housing 23 positioned opposite the first gripping means 12 and including a hollow portion, a second gripping means 22 having a plurality of first contact members 24 that contact an object as desired, a second variable control unit 25, a second locking unit 26, a second contact member extrusion plate 27a, and a second position detection means.

[0028] The external shape of the first housing 13 is not particularly limited and may be circular, elliptical, polygonal, etc., but a box shape is preferred.

[0029] The shape and size of the hollow portion of the first housing 13 are not particularly limited, as long as they can accommodate a part of the first contact member 14a including the other end portion, a plurality of first contact member support plates 16a..., a plurality of first contact member restraint plates 16b..., the first contact member extrusion plate 17a, and the first contact member detection means 18.

[0030] In the first housing 13, a first housing communication hole is formed in the opposing surface 13a of the first housing that faces the second gripping means 22, through which the first contact member 14a passes.

[0031] Furthermore, as shown in Figure 1, unlike the opposing surface 13a of the first housing, the rear surface 13b of the first housing does not have a through hole through which the first contact member 14a passes.

[0032] The first contact member 14a is composed of one end portion 14b, a substantially pin-shaped shaft portion 14c, and the other end portion 14f (Figures 5, 6, and 7).

[0033] One end portion 14b of the first contact member penetrates the first housing communication hole formed in the opposing surface 13a of the first housing from the inside of the first housing 13, and optionally contacts the object 30.

[0034] One end portion 14b of the first contact member is detachably attached so that it can be changed as appropriate depending on the object 30.

[0035] The material of one end portion 14b of the first contact member is not particularly limited, as long as it does not deform or damage the object 30, reduces the impact when it comes into contact with the object 30, and prevents the object 30 from falling off. Examples include elastic rubber and reinforced plastic.

[0036] The shape of one end portion 14b of the first contact member is not particularly limited as long as it can prevent it from coming out of the first housing communication hole, and examples include a substantially frustoconical shape, a sphere, etc.

[0037] The shaft portion 14c of the first contact member penetrates the first housing communication hole formed in the opposing surface 13a of the first housing, the first contact member support plate communication holes 16c formed in the plurality of first contact member support plates 16a..., and the first contact member restraint plate communication holes 16d formed in the plurality of first contact member restraint plates 16b....

[0038] The shape of the shaft portion 14c of the first contact member is formed in a substantially pin shape, as shown in the figure. The outer shape of the cut surface obtained by cutting perpendicular to the longitudinal direction of the shaft portion 14c of the first contact member may be any of the following: a circle, an ellipse, or a polygon (including a triangle, a rectangle, a quadrilateral, a pentagon, etc.). However, if ease of manufacturing and low manufacturing costs are important, a circle is preferred, while if the ability to prevent misalignment and suppress rotation is important, a polygon or ellipse is preferred.

[0039] Preferably, the outer circumferential surface of the shaft portion 14c of the first contact member has a plurality of annular grooves or at least one helical groove. This is because the engagement of the annular groove 14d or helical groove 14e of the first contact member with the annular groove or helical groove of the first contact member restraint plate 16b strengthens the restraining force of the first contact member restraint plate 16b, further suppressing the slippage of the first contact member 14a and making it possible to more effectively prevent the object 30 from falling.

[0040] The other end portion 14f of the first contact member remains inside the first housing 13 without penetrating the back surface 13b of the first housing.

[0041] The shape of the other end portion 14f of the first contact member is not particularly limited as long as it can prevent it from coming out of the communication hole 16c of the first contact member support plate, and examples include a substantially frustoconical shape, a sphere, etc.

[0042] The multiple first contact members 14 can be arranged, for example, in a staggered pattern with equal intervals in a 6x7 vertical and horizontal arrangement, or in a staggered pattern with equal intervals in a 7x6 vertical and horizontal arrangement, as shown in the figure, but are not limited to this. The arrangement and spacing can be freely designed according to the shape, size, weight, material, hardness, etc., of the object 30. If the shape, size, etc., of the object 30 varies each time, an staggered arrangement with equal intervals is preferable for the multiple first contact members 14. In particular, if the shape, size, weight, material, hardness, etc., of the object 30 is not constant, it is preferable to arrange the multiple first contact members 14 more densely in order to better support the object 30, and an arrangement with narrower spacing from top to bottom is also possible.

[0043] The shape and length of the multiple first contact members 14 can be the same as shown in the figure, but they also have the flexibility to have some of their shapes and / or lengths differ to suit the object.

[0044] The first variable control unit 15 allows the position of the first housing 13 to be changed as appropriate. As shown in Figure 1, the first variable control unit 15 consists of a first variable member 15a, a first transport member 15b, a first guide member 15c, and a first drive device 15d.

[0045] The first variable member 15a is connected to the first transport member 15b and the first housing 13. The first variable member 15a moves in the direction of guidance of the first guide member 15c via the first transport member 15b, which receives thrust from the first drive device 15d, and moves the first housing 13 to a predetermined position.

[0046] The first variable member 15a is not particularly limited as long as it is joined to the first transport member 15b and the first housing 13, and may be plate-shaped or curved in a shape other than a plate.

[0047] The joining surface between the first variable member 15a and the first housing 13 is not particularly limited and may be the side surface, top surface, bottom surface, or back surface of the first housing 13, as shown in Figure 1. The joining method between the first variable member 15a and the first housing 13 is not particularly limited and known joining methods can be used, but welding or bolting is preferred.

[0048] The first conveying member 15b moves the first variable member 15a to a predetermined position. The first guide member 15c guides the movement position of the first conveying member 15b. The first conveying member 15b and the first guide member 15c are not particularly limited as long as they are mechanical components that can move heavy objects lightly and in a straight line, but as shown in Figure 1, a ball circulation linear bearing (hereinafter sometimes referred to as "linear guide") that performs linear motion using the rolling of balls is an example. The first conveying member 15b is placed on the first guide member 15c. The first guide member 15c is installed on the substrate 11a of the base material 11.

[0049] The first drive device 15d provides thrust to the first conveying member 15b. The first drive device 15d is not particularly limited as long as it is a device capable of generating linear motion, and examples include a cylinder, a linear guide motor, a combination of rack and pinion and motor, and a combination of ball screw and motor. The first drive device 15d is installed on the substrate 11a of the base material 11.

[0050] The first locking section 16 consists of a plurality of first contact member support plates 16a..., a plurality of first contact member restraint plates 16b..., and a first contact member restraint plate controller 16g for moving the first contact member restraint plates 16b. The plurality of first contact member support plates 16a... and the plurality of first contact member restraint plates 16b... are arranged inside the first housing 13, and the first contact member restraint plate controller 16g is provided outside the first housing 13. Therefore, no elastic members such as springs are used in the first locking section 16.

[0051] In the present invention, the reason why the multiple first contact member support plates 16a... and multiple first contact member restraint plates 16b... are housed inside the first housing 13 is that if the first contact member support plates and first contact member restraint plates were located outside the first housing 13, there would be no need to disassemble the first housing 13 when maintaining the first contact member support plates and first contact member restraint plates, thus making maintenance easier and replacing the first contact member support plates and first contact member restraint plates simpler. However, if solid and / or liquid foreign matter enters one of the gaps between the communication hole for the first contact member and the shaft portion of the first contact member, the first If the locking mechanism malfunctions, the possibility of foreign matter entering the gaps outside the first housing 13 is far greater than the possibility of foreign matter entering the gaps inside the first housing 13. Therefore, if the first contact member support plate and the first contact member restraint plate are placed outside the first housing 13, it is predicted that a greater number of malfunctions of the first locking mechanism will occur than if they were placed inside the first housing 13. Furthermore, the slide guide for moving the first contact member restraint plate up and down becomes more complex, which also increases the possibility of malfunction of the first locking mechanism. In other words, in this invention, prioritizing minimizing the possibility of malfunction and failure of the first locking mechanism over the difficulty of maintenance of the first locking mechanism 16, it is essential that the multiple first contact member support plates 16a... and first contact member restraint plates 16b... are housed inside the first housing 13.

[0052] Multiple immovable first contact member support plates 16a... and multiple first contact member restraint plates 16b... that are movable in a direction perpendicular to the direction in which the first contact member moves, interact to fix multiple first contact members 14 in an immovable state. In the present invention, the first locking part is composed of multiple first contact member support plates 16a... and multiple first contact member restraint plates 16b... because if there is only one first contact member restraint plate, the single first contact member restraint plate and the single first contact member support plate are supported at only one point in opposing directions from above and below, resulting in only one restraint point. This not only allows the force necessary to fix multiple first contact members in an immovable state to escape, but also, after the multiple first contact members are fixed in an immovable state, one first contact member restraint plate is pushed in the direction of the first contact members, resulting in the disadvantage that sufficient strength cannot be obtained to fix multiple first contact members in an immovable state. In other words, in the present invention, since multiple first contact member support plates 16a... and multiple first contact member restraint plates 16b... are combined, the multiple first contact member support plates 16a... and multiple first contact member restraint plates 16b... intersect in a zigzag pattern from above and below, creating multiple restraint points and interlocking at multiple points. As a result, the first locking part can firmly fix multiple first contact members 14, and the stability of the first contact member restraint plate 16b is greatly improved and less prone to failure because the first contact member restraint plate 16b moves up and down between the two first contact member support plates 16a, 16a fixed inside the first housing 13. This advantage far outweighs the disadvantage of needing to adjust the position of the communication hole 16c for the first contact member.

[0053] The first contact member support plate 16a (Figures 8 and 9) and the first contact member restraint plate 16b (Figures 10 and 11) are not particularly limited as long as there are multiple plates, but it is preferable to use the same number of plates in order to strengthen the force that fixes the multiple first contact members 14 in an immovable state.

[0054] To enhance the synergistic effect, it is preferable that the first contact member support plate 16a (Figures 8 and 9) and the first contact member restraint plate 16b (Figures 10 and 11) be arranged alternately within the first housing 13 for multiple first contact members 14, as shown in Figure 3.

[0055] When the first contact member support plate 16a is placed inside the first housing 13, it partitions the hollow portion of the internal space of the first housing 13. For example, when two first contact member support plates 16a, 16a are placed inside the first housing 13, a space is formed between the inside of the opposing surfaces 13 of the first housing and the first contact member support plate 16a, and a space is also formed between the two first contact member support plates 16a, 16a.

[0056] The shape of the first contact member support plate communication hole 16c formed in the first contact member support plate 16a is not particularly limited, as long as it does not obstruct the movement of the multiple first contact members 14.

[0057] Each of the multiple first contact member support plates 16a... has a first contact member support plate communication hole 16c formed therein, which is identical in arrangement, shape, and dimensions, in order to allow each of the multiple first contact members 14 to pass through.

[0058] It is preferable to insert a lubricating material into the first contact member support plate communication hole 16c that does not hinder the movement and fixing of the first contact member 14a. This is to prevent misalignment of the first contact member support plate communication holes 16c of multiple first contact member support plates 16a... which are identical in arrangement, shape, and dimensions. An example of a lubricating material that does not hinder the movement and fixing of the first contact member 14a is a ring made of hard reinforced rubber.

[0059] The shape of the first contact member restraint plate communication hole 16d formed in the first contact member restraint plate 16b is not particularly limited as long as it does not obstruct the movement of the multiple first contact members 14 when the lock of the first locking part 16 is released, but it is preferably an oval shape or a Daruma shape formed by combining the arcs of two circles of different diameters. This is because, in addition to the first contact member restraint plate communication hole 16d not obstructing the movement of the first contact member 14a, when the lock of the first locking part 16 is activated and the first contact member restraint plate 16b moves vertically downward, the upper part of the first contact member 14a, the upper part of the first contact member restraint plate communication hole 16d, and the lower part of the first contact member support plate communication hole 16c come into contact, making it possible to fix the multiple first contact members 14 more firmly. If an annular groove 14d or a helical groove 14e exists on the outer circumferential surface of the shaft portion 14c of the first contact member, an annular groove or a helical groove 14f is also provided on a part (upper) of the inner circumferential surface of the communication hole 16b of the first contact member restraint plate (Figure 11).

[0060] Each of the multiple first contact member restraint plates 16b... has a first contact member restraint plate communication hole 16d formed therein, which is identical in arrangement, shape, and dimensions, allowing each of the multiple first contact members 14 to pass through it.

[0061] The first contact member restraint plate 16b may have a structure in which it is separated so as to divide the first contact member restraint plate communication hole 16d into two.

[0062] When the lock of the first locking part 16 is released, that is, before the multiple first contact member restraint plates 16b... move vertically downward with respect to the direction of movement of the first contact member 14a, the multiple first contact member support plates 16a... and the multiple first contact member restraint plates 16b... do not obstruct the movement of the multiple first contact members 14 that penetrate them. However, when the lock of the first locking part 16 is activated, that is, after the multiple first contact member restraint plates 16b... move vertically downward with respect to the direction of movement of the first contact member 14a, the interaction between the multiple first contact member support plates 16a... and the multiple first contact member restraint plates 16b... firmly locks the movement of the multiple first contact members 14 that penetrate them, and all of the multiple first contact members 14 are fixed in place.

[0063] The first contact member restraint plate controller 16g acts as a power source for moving the first contact member restraint plate 16b, and moves the first contact member restraint plate 16b vertically downward relative to the movement of multiple first contact members 14, if desired, and vertically upward relative to the movement of multiple first contact members 14. The first contact member restraint plate controller 16g is not particularly limited as long as it acts as a power source for moving the first contact member restraint plate 16b, but examples include a pneumatic piston cylinder, a hydraulic piston cylinder, and a linear guide motor. The first contact member restraint plate controller 16g is driven by a power source device 42, such as an air source device (air compressor), which is installed on the substrate 11a of the base material 11 outside the first housing 13.

[0064] It is preferable to interpose a first rod-shaped body between the first contact member restraint plate controller 16g and the first contact member restraint plate 16b in order to further shorten the time required to move the first contact member restraint plate 16b.

[0065] Conditions for the timing of the lock of the first locking unit 16 include, for example, immediately after the arithmetic unit 41 receives a detection signal of the first contact member extrusion plate sent from the first rear position detection means 17e in the first position detection means or a detection signal of the first contact member sent from the first contact member detection means 18, or immediately after the arithmetic unit 41 receives both a detection signal of the first contact member extrusion plate sent from the first rear position detection means 17e in the first position detection means or a detection signal of the first contact member sent from the first contact member detection means 18 and a detection signal of the second contact member extrusion plate sent from the second rear position detection means 27e in the second position detection means or a detection signal of the second contact member sent from the second contact member detection means.

[0066] An example of the process from a state where the lock of the first locking part 16 is released, that is, a state in which the multiple first contact members 14 can move, to a state in which the lock of the first locking part 16 is activated, that is, a state in which the multiple first contact members 14 are fixed, is shown below.

[0067] Upon receiving a command signal for the locking operation of the first locking unit 16 from the arithmetic unit 41, the first contact member restraint plate controller 16g pushes out the first rod-shaped body so as to move vertically downward relative to the movement of the first contact member 14a, causing the first contact member restraint plate 16b to move vertically downward relative to the movement of the first contact member 14a. When the first contact member restraint plate 16b moves vertically downward relative to the movement of the first contact member 14a, the first contact member restraint plate communication hole 16d also shifts vertically downward, and the first contact member 14a is locked by the pressing force of the first contact member restraint plate 16b and the supporting force of the first contact member support plate 16a, thereby fixing the first contact member 14a in place. In other words, as the first contact member restraint plate 16b moves vertically downward relative to the movement of the first contact member 14a, the first member 14a moves smoothly. The gaps that existed between the first contact member 14a and the first contact member support plate communication hole 16a, and the gaps that existed between the first contact member 14a and the first contact member restraint plate communication hole 16b are blocked, a guillotine-like force is applied to the first contact member 14a, and it is crimped by the interaction of the first contact member support plate 16a and the first contact member restraint plate 16b, completely suppressing the movement of the first contact member 14a and fixing the first contact member 14a in place.

[0068] Furthermore, the distance that the first contact member restraint plate 16b moves vertically downward with respect to the direction of movement of the first contact member 14a is longer than the height of the annular groove 14d or helical groove 14e if there is an annular groove 14d or helical groove 14e on the outer circumferential surface of the shaft portion 14c of the first contact member, and depends on the diameter of the cross-sectional area of ​​the first contact member 14a if there is no groove on the outer circumferential surface of the shaft portion 14c of the first contact member.

[0069] The first contact member extrusion plate 17a pushes all of the multiple first contact members 14 to their predetermined positions. The first contact member extrusion plate 17a is housed inside the first housing 13.

[0070] The first contact member extruder plate 17a is coupled with the first extruder member 17c located in the first extrusion device 17b. The first contact member extruder plate 17a does not move on its own, but is pushed by the first extruder member 17c in a direction approaching the opposing surface 13a of the first housing.

[0071] Examples of the first extrusion device 17b include an air cylinder and an electric cylinder, and examples of the first extrusion member 17c include a piston in an air cylinder and a piston in an electric cylinder. The first extrusion device 17b may be singular or plural. When there is a singular first extrusion device 17b, it is located in the center of the first contact member extrusion plate 17a, and when there are multiple first extrusion devices 17b, they are located, for example, at the right end and left end of the first contact member extrusion plate 17a.

[0072] The first extrusion device 17b is driven by the power source device 42. When the first extrusion member 17c in the first extrusion device 17b is extruded in a direction approaching the opposing surface 13a of the first housing, the first contact member extrusion plate 17a that connects with the first extrusion member 17c moves in a direction approaching the opposing surface 13a of the first housing. As the first contact member extrusion plate 17a moves in a direction approaching the opposing surface 13a of the first housing, the first contact member extrusion plate 17a pushes all the other end portions 14f... of the first contact members in a direction approaching the opposing surface 13a of the first housing, so that all the one end portions 14b... of the first contact members move in a direction protruding from the first housing 13.

[0073] The first position detection means is located outside or inside the first housing 13 and detects the first contact member extrusion plate 17a that has moved to a predetermined position.

[0074] The first position detection means uses a limit switch or the like as a position sensor.

[0075] The first position detection means includes a first forward position detection means 17d, which is positioned near the front end of the first extrusion device 17b and detects the state in which all first contact members 14a... are in their initial state via a first contact member extrusion plate 17a connected to the first extrusion member 17c inside the first extrusion device 17b; and a first rear position detection means 17e, which is positioned near the rear end of the first extrusion device 17b and detects the first contact member that first reaches a predetermined position, which can serve as a reference for the locking operation of the first contact members, via a first contact member extrusion plate 17a connected to the first extrusion member 17c inside the first extrusion device 17b.

[0076] When the rear end portion of the first extruded member 17c reaches the detection location of the first forward position detection means 17d, and the first forward position detection means 17d detects the rear end portion of the first extruded member 17c, the first forward position detection means 17d transmits a detection signal for the first contact member extruded plate to a computer 41, which is located outside the first housing 13 and processes various signals.

[0077] The detection signal of the first contact member extrusion plate sent from the first forward position detection means 17d is processed by the arithmetic unit 41, and then the arithmetic unit 41 sends a command signal to the first extrusion device 17b to stop the movement of the first extrusion member.

[0078] Upon receiving a command signal from the arithmetic unit 41 to stop the movement of the first extrusion member, the first extrusion device 17b stops the movement of the first extrusion member 17c. When the movement of the first extrusion member 17c stops, the first contact member extrusion plate 17a that is coupled with the first extrusion member 17c also stops moving, and all the end portions 14b... of the first contact members protrude to their longest extent from the first housing 13, and all the first contact members 14a... return to their initial state.

[0079] If the first contact member detection means is not housed inside the first housing 13, it operates differently from the case where the first contact member detection means is housed inside the first housing 13, for example, as follows.

[0080] When the object 30 is located between the first housing 13 and the second housing 23, as the first housing 13 moves in a direction that reduces its distance from the second housing 23, eventually one end portion 14b of one of the multiple first contact members 14 will come into contact with the object 30.

[0081] Furthermore, as the first housing 13 continues to move in a direction that brings it closer to the second housing 23, the first contact member 14a, whose one end is in contact with the object 30, is pushed into the interior of the first housing 13. At the same time, the other end 14f of the first contact member pushes the first contact member extrusion plate 17a, causing the first contact member extrusion plate 17a to move toward the rear surface 13b of the first housing. Consequently, the rear end portion of the first extrusion member 17c moves toward the rear end of the first extrusion device 17b.

[0082] Subsequently, when the rear end portion of the first extruded member 17c reaches the detection location of the first rear position detection means 17e, and the first rear position detection means 17e detects the rear end portion of the first extruded member 17c, the first rear position detection means 17e transmits a detection signal for the first contact member extruded plate to the arithmetic unit 41. The detection signal for the first contact member extruded plate sent from the first rear position detection means 17e is processed by the arithmetic unit 41 and becomes a factor in determining whether or not to lock the first contact member.

[0083] In the gripping device of the present invention, it is preferable to further include a first contact member detection means 18. Unlike the first rear position detection means 17e, this means is extremely effective in accurately determining and detecting the movement position of the first contact member 14a even when resistance occurs in the movement of the first contact member extrusion plate 17a. Furthermore, even if a detection error occurs, it can be compensated for by detecting other first contact members.

[0084] The first contact member detection means 18 detects the first contact member 14a that has moved to a predetermined position. The first contact member detection means 18 is not particularly limited and can employ known methods, such as position detection, contact detection, light detection, and pressure detection. However, in order to reduce unnecessary force on the object 30 due to the delay in operation from the first contact member detection means 18 to the locking operation of the first locking part 16, contact detection with the flexibility to restore to its original shape is preferred.

[0085] The first contact member detection means 18 is housed inside the first housing 13 to effectively suppress false detections and non-detections (Figures 15 to 18). In the case of position detection, contact detection, or pressure detection, it is preferable to install the first contact member detection means 18 on or near the back of the first housing 13, as shown in Figures 15 to 18, in order to ensure as much of the movable length of the first contact member as possible.

[0086] The position of the first contact member 14a detected by the first contact member detection means 18 is not particularly limited, but in the case of contact detection or pressure detection, it is preferably the tip of the other end portion 14f of the first contact member, and in the case of light detection, it is preferably the tip or near the tip of the other end portion 14f of the first contact member in order to effectively utilize the movable length of the first contact member 14a.

[0087] When the first contact member detection means 18 is housed inside the first housing 13, it operates differently from the case when the first contact member detection means 18 is not housed inside the first housing 13, for example, as follows.

[0088] When the object 30 is located between the first housing 13 and the second housing 23, and the first housing 13 begins to move in a direction that brings it closer to the second housing 23, the driving force of the power source device 42 immediately moves the first extrusion member 17c to the rear side of the first extrusion device 17b, and consequently, the first contact member extrusion plate moves to the rear side 13b of the first housing.

[0089] When the first rear position detection means 17e detects the rear end portion of the first extruder member 17c, the first rear position detection means 17e transmits a signal to the arithmetic unit 41 indicating that the movement of the first extruder member is complete. That is, if the first contact member detection means 18 is housed inside the first housing 13, the first rear position detection means 17e does not transmit a detection signal for the first contact member extruder plate.

[0090] As the first housing 13 moves in a direction that brings it closer to the second housing 23, one end portion 14b of one of the multiple first contact members comes into contact with the object 30. Furthermore, as the first housing 13 continues to move in a direction that brings it closer to the second housing 23, the other end portion 14f of the first contact member whose end has come into contact with the object is pushed towards the back surface 13b of the first housing.

[0091] Subsequently, when the other end portion 14f of the first contact member reaches the detection location of the first contact member detection means 18 on the back surface 13b of the first housing, and the first contact member detection means 18 detects the rear end portion of the first extrusion member 17c, the first contact member detection means 18 transmits a detection signal for the first contact member to the arithmetic unit 41. The detection signal for the first contact member sent from the first contact member detection means 18 is processed by the arithmetic unit 41 and becomes a factor in determining whether or not to lock the first contact member.

[0092] The detection signals sent from the first forward position detection means 17d, the first rear position detection means 17e, and the first contact member detection means 18 are processed by the arithmetic unit 41. Command signals from the arithmetic unit 41 are transmitted to the first variable control unit 15, the first locking unit 16, and the first extrusion device 17b.

[0093] The external shape of the second housing 23 is not particularly limited and may be circular, elliptical, polygonal, etc., but a box shape is preferred.

[0094] The shape and size of the hollow portion of the second housing 23 are not particularly limited, as long as it can accommodate a part of the second contact member 24a including the other end portion, a plurality of second contact member support plates 26a..., a plurality of second contact member restraint plates 26b..., a second contact member extrusion plate 27a, and a second contact member detection means.

[0095] In the second housing 23, a second housing communication hole is formed on the opposing surface of the second housing 23 that faces the first gripping means 12, through which the second contact member 24a passes.

[0096] Unlike the opposing surface of the second housing 23, the back surface of the second housing 23 does not have a through hole through which the second contact member 24a passes.

[0097] The second contact member 24a is composed of one end portion 24b, a substantially pin-shaped shaft portion 24c, and the other end portion 24f.

[0098] One end portion 24b of the second contact member penetrates a second housing communication hole formed on the opposing surface of the second housing 23 from the inside of the second housing 23, and optionally contacts the object 30.

[0099] One end portion 24b of the second contact member is detachably attached so that it can be changed as appropriate depending on the object 30.

[0100] The material of one end portion 24b of the second contact member is not particularly limited, as long as it does not deform or damage the object 30, reduces the impact when it comes into contact with the object 30, and prevents the object 30 from falling off. Examples include elastic rubber and reinforced plastic.

[0101] The shape of one end portion 24b of the second contact member is not particularly limited as long as it can prevent it from coming out of the second housing communication hole, and examples include a substantially frustoconical shape, a sphere, etc.

[0102] The shaft portion 24c of the second contact member penetrates the second housing communication hole formed on the opposing surface of the second housing 23, the second contact member support plate communication holes 26c formed in the plurality of second contact member support plates 26a..., and the second contact member restraint plate communication holes 26d formed in the plurality of second contact member restraint plates 26b....

[0103] The shaft portion 24c of the second contact member is formed in a substantially pin shape. The outer shape of the cut surface obtained by cutting perpendicular to the longitudinal direction of the shaft portion 24c of the second contact member may be, for example, a circle, an ellipse, or a polygon (including triangles, rectangles, quadrilaterals, pentagons, etc.). However, if ease of manufacturing and low manufacturing costs are important, a circle is preferred, and if the ability to prevent displacement and suppress rotation is important, a polygon or ellipse is preferred.

[0104] It is preferable that the outer circumferential surface of the shaft portion 24c of the second contact member has a plurality of annular grooves or at least one helical groove. This is because the engagement of the annular groove or helical groove of the second contact member with the annular groove or helical groove of the second contact member restraint plate 26b strengthens the restraining force of the second contact member restraint plate 26b, further suppressing the slippage of the second contact member 24a and making it possible to more effectively prevent the object 30 from falling.

[0105] The other end portion 24f of the second contact member remains inside the second housing 23 without penetrating the back surface of the second housing 23.

[0106] The shape of the other end portion 24f of the second contact member is not particularly limited as long as it can prevent it from coming out of the communication hole 26c of the second contact member support plate, and examples include a substantially frustoconical shape, a sphere, etc.

[0107] The multiple second contact members 24 can be arranged in a staggered pattern at equal intervals in a 6x7 vertical x 7 horizontal arrangement, as shown in the figure, or in a staggered pattern at equal intervals in a 7x6 vertical x 6 horizontal arrangement, but are not limited to these arrangements. The arrangement and spacing can be freely designed according to the shape, size, weight, material, hardness, etc., of the object 30. If the shape, size, etc., of the object 30 varies each time, an staggered arrangement at equal intervals is preferable for the multiple second contact members 24. In particular, if the shape, size, weight, material, hardness, etc., of the object 30 is not constant, it is preferable to arrange the multiple second contact members 24 more densely to make it easier to support the object 30, and an arrangement with narrower spacing at the bottom than at the top is also possible.

[0108] The shape and length of the multiple second contact members 24 can be the same as shown in the figure, but they also have the flexibility to have some of their shapes and / or lengths differ to suit the object.

[0109] The second variable control unit 25 allows the position of the second housing 23 to be changed as appropriate. The second variable control unit 25 consists of a second variable member 25a, a second transport member 25b, a second guide member 25c, and a second drive device 25d.

[0110] The second variable member 25a is connected to the second transport member 25b and the second housing 23. The second variable member 25a moves in the direction of guidance of the second guide member 25c via the second transport member 25b, which receives thrust from the second drive device 25d, and moves the second housing 23 to a predetermined position.

[0111] The second variable member 25a is not particularly limited as long as it is joined to the second transport member 25b and the second housing 23, and may be plate-shaped or curved in a shape other than a plate.

[0112] The joining surface between the second variable member 25a and the second housing 23 is not particularly limited and may be the side surface, top surface, bottom surface, or back surface of the second housing 23, as shown in Figure 1. The joining method between the second variable member 25a and the second housing 23 is not particularly limited and known joining methods can be used, but welding or bolting is preferred.

[0113] The second transport member 25b moves the second variable member 25a to a predetermined position. The second guide member 25c guides the movement position of the second transport member 25b. The second transport member 25b and the second guide member 25c are not particularly limited as long as they are mechanical components that can move heavy objects lightly and in a straight line, but linear guides are an example. The second transport member 25b is positioned on the second guide member 25c. The second guide member 25c is installed on the substrate 11a of the base material 11.

[0114] It is preferable that the second guide member 25c be positioned at a separate location, not on the same line as the first guide member 15c, but it is also acceptable to position them on the same line.

[0115] The second drive device 25d provides thrust to the second conveying member 25b. The second drive device 25d is not particularly limited as long as it is a device that can generate linear motion, and examples include a cylinder, a linear guide motor, a combination of rack and pinion and motor, and a combination of ball screw and motor. The second drive device 25d is installed on the substrate 11a of the base material 11.

[0116] The first variable member 15a moves along the first guide member 15c via the first transport member 15b due to thrust from the first drive device 15d, while the second variable member 25a moves along the second guide member 25c via the second transport member 25b due to thrust from the second drive device 25d. Therefore, the first variable member 15a and the second variable member 25a move independently. In other words, the first variable control unit 15 and the second variable control unit 25 can be controlled independently. The moving speed of the first gripping means 12 and the moving speed of the second gripping means 22 may be the same or different.

[0117] The second locking section 26 consists of a plurality of second contact member support plates 26a..., a plurality of second contact member restraint plates 26b..., and a second contact member restraint plate controller 26g for moving the second contact member restraint plates 26b. The plurality of second contact member support plates 26a... and the plurality of second contact member restraint plates 26b... are arranged inside the second housing 23, and the second contact member restraint plate controller 26g is provided outside the second housing 23. Therefore, no elastic members such as springs are used in the second locking section 26.

[0118] In the present invention, the reason why the plurality of second contact member support plates 26a... and the plurality of second contact member restraint plates 26b... are housed inside the second housing 23 is that if the second contact member support plates and second contact member restraint plates were located outside the second housing 23, there would be no need to disassemble the second housing 23 when maintaining the second contact member support plates and second contact member restraint plates, thus making maintenance easier and replacing the second contact member support plates and second contact member restraint plates simpler. However, if solid and / or liquid foreign matter enters one of the gaps between the communication hole for the second contact member and the shaft portion of the second contact member, the second If the locking mechanism malfunctions, the possibility of foreign matter entering the gaps outside the second housing 23 is far greater than the possibility of foreign matter entering the gaps inside the second housing 23. Therefore, if the second contact member support plate and the second contact member restraint plate are placed outside the second housing 23, it is predicted that a greater number of malfunctions of the second locking mechanism will occur compared to placing them inside the second housing 23. Furthermore, the slide guide for moving the second contact member restraint plate up and down becomes more complex, which also increases the possibility of malfunction of the second locking mechanism. In other words, in this invention, prioritizing minimizing the possibility of malfunction and failure of the second locking mechanism 26 over the difficulty of maintenance of the second locking mechanism 26 is essential, and therefore, it is necessary to house the multiple second contact member support plates 26a... and second contact member restraint plates 26b... inside the second housing 23.

[0119] Multiple immovable second contact member support plates 26a... and multiple second contact member restraint plates 26b... that are movable in a direction perpendicular to the direction in which the second contact member moves, interact to fix multiple second contact members 24 in an immovable state. In the present invention, the second locking part is composed of multiple second contact member support plates 26a... and multiple second contact member restraint plates 26b... because if there is only one second contact member restraint plate, the single second contact member restraint plate and the single second contact member support plate are supported at only one point in opposing directions from above and below, resulting in only one restraint point. This not only allows the force necessary to fix multiple second contact members in an immovable state to escape, but also, after the multiple second contact members are fixed in an immovable state, one second contact member restraint plate is pushed in the direction of the second contact members, resulting in the disadvantage that sufficient strength cannot be obtained to fix multiple second contact members in an immovable state. In other words, in the present invention, since multiple second contact member support plates 26a... and multiple second contact member restraint plates 26b... are combined, the multiple second contact member support plates 26a... and multiple second contact member restraint plates 26b... intersect in a zigzag pattern from above and below, creating multiple restraint points and interlocking at multiple points. As a result, the second locking part can firmly fix multiple second contact members 24, and the stability of the second contact member restraint plate 26b is greatly improved and it becomes less prone to failure as the second contact member restraint plate 26b moves up and down between the two second contact member support plates 26a, 26a fixed inside the second housing 13. This advantage far outweighs the disadvantage of needing to adjust the position of the communication hole 26c for the second contact member.

[0120] The number of second contact member support plates 26a and second contact member restraint plates 26b is not particularly limited as long as there are multiple plates, but it is preferable to use the same number of plates in order to strengthen the force that fixes the multiple second contact members 24 in an immovable state.

[0121] To enhance their mutual effects, it is preferable that the second contact member support plate 26a and the second contact member restraint plate 26b be arranged alternately with respect to the second contact member 24a inside the second housing 23.

[0122] When the second contact member support plate 26a is placed inside the second housing 23, it partitions the hollow portion of the internal space of the second housing 23. For example, when two second contact member support plates 26a, 26a are placed inside the second housing 23, a space is formed between the inner surfaces of the opposing surfaces of the second housing 23 and the second contact member support plate 26a, and a space is also formed between the two second contact member support plates 26a, 26a.

[0123] The shape of the second contact member support plate communication hole 26c formed in the second contact member support plate 26a is not particularly limited, as long as it does not obstruct the movement of the multiple second contact members 24.

[0124] Each of the multiple second contact member support plates 26a... has a second contact member support plate communication hole 26c formed therein, which is identical in arrangement, shape, and dimensions, allowing each of the multiple second contact members 24 to pass through it.

[0125] It is preferable to insert a lubricating material into the second contact member support plate communication hole 26c that does not hinder the movement and fixing of the second contact member 24a. This is to prevent misalignment of the second contact member support plate communication holes 26c of multiple second contact member support plates 26a... which are identical in arrangement, shape, and dimensions. A lubricating material that does not hinder the movement and fixing of the second contact member 24a is a ring made of hard reinforced rubber.

[0126] The shape of the second contact member restraint plate communication hole 26d formed in the second contact member restraint plate 26b is not particularly limited as long as it does not obstruct the movement of the multiple second contact members 24 when the lock of the second locking part 26 is released, but it is preferably an oval shape or a Daruma shape formed by combining the arcs of two circles of different diameters. This is because, in addition to the second contact member restraint plate communication hole 26d not obstructing the movement of the second contact member 24a, when the lock of the second locking part 26 is activated and the second contact member restraint plate 26b moves vertically downward, the upper part of the second contact member 24a, the upper part of the second contact member restraint plate communication hole 26d, and the lower part of the second contact member support plate communication hole 26c come into contact, making it possible to fix the multiple second contact members 24 more firmly. If the outer circumferential surface of the shaft portion 24c of the second contact member has an annular groove or a helical groove, an annular groove or a helical groove is also provided on a part (upper) of the inner circumferential surface of the communication hole of the second contact member restraint plate.

[0127] Each of the multiple second contact member restraint plates 26b... has a second contact member restraint plate communication hole 26d formed therein, which is identical in arrangement, shape, and dimensions, allowing each of the multiple second contact members 24 to pass through it.

[0128] The second contact member restraint plate 26b may have a structure in which it is separated so as to divide the second contact member restraint plate communication hole 26d into two.

[0129] When the lock of the second locking part 26 is released, that is, before the multiple second contact member restraint plates 26b... move vertically downward with respect to the direction of movement of the second contact member 24a, the multiple second contact member support plates 26a... and the multiple second contact member restraint plates 26b... do not obstruct the movement of the multiple second contact members 24 that penetrate them. However, when the lock of the second locking part 26 is activated, that is, after the multiple second contact member restraint plates 26b... move vertically downward with respect to the direction of movement of the second contact member, the interaction between the multiple second contact member support plates 26a... and the multiple second contact member restraint plates 26b... firmly locks the movement of the multiple second contact members 24 that penetrate them, and all of the multiple second contact members 24 are fixed in place.

[0130] The second contact member restraint plate controller 26g acts as a power source for moving the second contact member restraint plate 26b, and moves the second contact member restraint plate 26b vertically downward relative to the movement of the second contact member 24a, if desired, and vertically upward relative to the movement of the second contact member 24. The second contact member restraint plate controller 26g is not particularly limited as long as it acts as a power source for moving the second contact member restraint plate 26b, but examples include a pneumatic piston cylinder, a hydraulic piston cylinder, and a linear guide motor. The second contact member restraint plate controller 26g is driven by a power source device 42 installed on the substrate 11a of the base material 11, which is located outside the second housing 23.

[0131] It is preferable to interpose a second rod-shaped body between the second contact member restraint plate controller 26g and the second contact member restraint plate 26b in order to further shorten the time required to move the second contact member restraint plate 26b.

[0132] Conditions for the timing of the lock of the second locking unit 26 include, for example, immediately after the arithmetic unit 41 receives a detection signal of the second contact member extrusion plate sent from the second rear position detection means in the second position detection means or a detection signal of the second contact member sent from the second contact member detection means, or immediately after the arithmetic unit 41 receives both a detection signal of the second contact member extrusion plate sent from the second rear position detection means in the second position detection means or a detection signal of the second contact member sent from the second contact member detection means and a detection signal of the first contact member extrusion plate sent from the first rear position detection means in the first position detection means or a detection signal of the first contact member sent from the first contact member detection means.

[0133] An example of the process from the state in which the lock of the second locking part 26 is released, i.e., the state in which the second contact member 24a is movable, to the state in which the lock of the second locking part 26 is activated, i.e., the state in which the second contact member 24a is fixed, is shown below.

[0134] Upon receiving a command signal for the locking operation of the second locking unit 26 from the arithmetic unit 41, the second contact member restraint plate controller 26g pushes out the second rod-shaped body so as to move vertically downward relative to the movement of the second contact member 24a, causing the second contact member restraint plate 26b to move vertically downward relative to the movement of the second contact member 24a. When the second contact member restraint plate 26b moves vertically downward relative to the movement of the second contact member 24a, the second contact member restraint plate communication hole 26d shifts vertically downward, and the second contact member 24a is locked by the pressing force of the second contact member restraint plate 26b and the supporting force of the second contact member support plate 26a, thereby fixing the second contact member 24a in place. In other words, the second contact member restraint plate 26b moves vertically downward relative to the movement of the second contact member 24a, allowing the second contact member 24a to move smoothly. The gaps that existed between the second contact member 24a and the second contact member support plate communication hole 26c, and the gaps that existed between the second contact member 24a and the second contact member restraint plate communication hole 26d are blocked, a guillotine-like force is applied to the second contact member 24a, and it is crimped by the interaction of the second contact member support plate 26a and the second contact member restraint plate 26b, completely suppressing the movement of the second contact member 24a and fixing the second contact member 24a in place.

[0135] Furthermore, the distance that the second contact member restraint plate 26b moves vertically downward with respect to the direction of movement of the second contact member 24a is longer than the height of the annular groove or helical groove if there is an annular groove or helical groove on the outer circumferential surface of the shaft portion 24c of the second contact member, and depends on the diameter of the cross-sectional area of ​​the second contact member 24a if there is no groove on the outer circumferential surface of the shaft portion 24c of the second contact member.

[0136] The second contact member extrusion plate 27a pushes all of the multiple second contact members 24 to their predetermined positions. The second contact member extrusion plate 27a is housed inside the second housing 23.

[0137] The second contact member extrusion plate 27a is coupled with the second extrusion member 27c located in the second extrusion device 27b. The second contact member extrusion plate 27a does not move on its own, but is pushed by the second extrusion member 27c in a direction approaching the opposing surface of the second housing 23.

[0138] Examples of the second extrusion device 27b include an air cylinder and an electric cylinder, and examples of the second extrusion member 27c include a piston in an air cylinder and a piston in an electric cylinder. The second extrusion member 27c may be singular or plural. If there is a singular second extrusion device 27b, it is located in the center of the second contact member extrusion plate 27a, and if there are multiple second extrusion devices 27b, they are located at the right and left ends of the second contact member extrusion plate 27a.

[0139] The second extrusion device 27b is driven by the power source device 42. When the second extrusion member 27c in the second extrusion device 27b is extruded in a direction approaching the opposing surface of the second housing 23, the second contact member extrusion plate 27a that connects with the second extrusion member 27c moves in a direction approaching the opposing surface of the second housing 23. As the second contact member extrusion plate 27a moves in a direction approaching the opposing surface of the second housing 23, the second contact member extrusion plate 27a pushes the other end portions 24f... of all the second contact members in a direction approaching the opposing surface of the second housing 23, so that the one end portions 24b... of all the second contact members move in a direction protruding from the second housing 13.

[0140] The second position detection means is located outside or inside the second housing 23 and detects the second contact member extrusion plate 27a that has moved to a predetermined position.

[0141] The second forward position detection means uses a limit switch or the like as a position sensor.

[0142] The second position detection means includes a second forward position detection means 27d, which is positioned near the front end of the second extrusion device 27b and detects the state in which all second contact members 24a... are in their initial state via a second contact member extrusion plate 27a connected to the second extrusion member 27c inside the second extrusion device 27b; and a second rear position detection means 27e, which is positioned near the rear end of the second extrusion device 27b and detects the second contact member that first reaches a predetermined position, which can serve as a criterion for determining whether the second contact member is locked, via a second contact member extrusion plate 27a connected to the second extrusion member 27c inside the second extrusion device 27b.

[0143] When the rear end portion of the second extruded member 27c reaches the detection location of the second forward position detection means 27d, and the second forward position detection means 27d detects the rear end portion of the second extruded member 27c, the second forward position detection means 27d transmits a detection signal for the second contact member extruded plate to the arithmetic unit 41, which is located outside the second housing 23 and processes various signals.

[0144] The detection signal of the second contact member extrusion plate sent from the second forward position detection means 27d is processed by the arithmetic unit 41, and then the arithmetic unit 41 sends a command signal to the second extrusion device 27b to stop the movement of the second extrusion member.

[0145] Upon receiving a command signal from the arithmetic unit 41 to stop the movement of the second extrusion member, the second extrusion device 27b stops the movement of the second extrusion member 27c. When the movement of the second extrusion member 27c stops, the second contact member extrusion plate 27a that is coupled with the second extrusion member 27c also stops moving, and all the end portions 24b... of all the second contact members protrude to their longest extent from the second housing 23, and all the second contact members 24a... return to their initial state.

[0146] If the second contact member detection means is not housed inside the second housing 23, it operates differently from the case where the second contact member detection means is housed inside the second housing 23, for example, as follows.

[0147] When the object 30 is located between the first housing 13 and the second housing 23, as the second housing 23 moves in a direction that reduces its distance from the first housing 13, eventually one end portion 24b of one of the multiple second contact members will come into contact with the object 30.

[0148] Furthermore, as the second housing 23 continues to move in a direction that brings it closer to the first housing 13, the second contact member 24a, whose one end is in contact with the object 30, is pushed into the interior of the second housing 23. At the same time, the other end 24f of the second contact member pushes the second contact member extrusion plate 27a, causing the second contact member extrusion plate 27a to move toward the rear side of the second housing 23. Consequently, the rear end portion of the second extrusion member 27c moves toward the rear end of the second extrusion device 27b.

[0149] Subsequently, when the rear end portion of the second extruded member 27c reaches the detection location of the second rear position detection means 27e, and the second rear position detection means 27e detects the rear end portion of the second extruded member 27c, the second rear position detection means 27e transmits a detection signal for the second contact member extruded plate to the arithmetic unit 41. The detection signal for the second contact member extruded plate sent from the second rear position detection means 27e is processed by the arithmetic unit 41 and becomes a factor in determining whether or not to lock the second contact member.

[0150] In the gripping device of the present invention, it is preferable to further include a second contact member detection means. This is because, unlike the second rear position detection means 27e, it is extremely effective as a means for accurately determining and detecting the movement position of the second contact member 24a even when resistance occurs in the movement of the second contact member extrusion plate 27a. Furthermore, even if a detection error occurs, it can compensate for the detection error by detecting other second contact members.

[0151] The second contact member detection means detects the second contact member when it has moved to a predetermined position. The second contact member detection means is not particularly limited and can employ known methods, such as position detection, contact detection, light detection, and pressure detection. However, in order to reduce unnecessary force on the object 30 due to the delay in operation from the second contact member detection means to the locking operation of the second locking part 26, contact detection with the flexibility to restore to its original shape is preferred.

[0152] The second contact member detection means is housed inside the second housing 23 to effectively suppress false detections and failures to detect. In the case of position detection, contact detection, or pressure detection, the second contact member detection means is preferably installed on or near the back of the second housing 23 to ensure as much of the second contact member's movable length as possible.

[0153] The position of the second contact member 24a detected by the second contact member detection means is not particularly limited, but in the case of contact detection or pressure detection, it is preferably the tip of the other end portion 24f of the second contact member, and in the case of light detection, in order to effectively utilize the movable length of the second contact member 24a, it is preferably the tip or near the tip of the other end portion 24f of the second contact member.

[0154] When the second contact member detection means is housed inside the second housing 23, it operates differently from the case where the second contact member detection means is not housed inside the second housing 23, for example, as follows.

[0155] When the object 30 is located between the second housing 23 and the first housing 13, and the second housing 23 begins to move in a direction that brings it closer to the first housing 13, the second extrusion member 27c immediately moves to the rear side of the first extrusion device 27b due to the driving force of the power source device 42, and consequently, the second contact member extrusion plate moves to the rear side of the second housing 23.

[0156] When the second rear position detection means 27e detects the rear end portion of the second extruder member 27c, the second rear position detection means 27e transmits a signal to the arithmetic unit 41 indicating that the movement of the second extruder member is complete. That is, if the second contact member detection means is housed inside the second housing 23, the second rear position detection means 27e does not transmit a detection signal for the second contact member extruder plate.

[0157] As the second housing 23 moves in a direction that brings it closer to the first housing 13, one end portion 24b of one of the multiple second contact members comes into contact with the object 30. Furthermore, as the second housing 23 continues to move in a direction that brings it closer to the first housing 13, the other end portion 24f of the second contact member whose one end has come into contact with the object is pushed towards the back side of the second housing 23.

[0158] Subsequently, when the other end portion 24f of the second contact member reaches the detection location of the second contact member detection means on the back of the second housing 23, and the second contact member detection means detects the rear end portion of the second extrusion member 27c, the second contact member detection means transmits a detection signal for the second contact member to the arithmetic unit 41. The detection signal for the second contact member sent from the second contact member detection means is processed by the arithmetic unit 41 and becomes a factor in determining whether or not to lock the second contact member.

[0159] The detection signals sent from the second forward position detection means 27d, the second rear position detection means 27e, and the second contact member detection means are processed by the arithmetic unit 41, and the command signals from the arithmetic unit 41 are transmitted to the second variable control unit 25, the second locking unit 26, and the second extrusion device 27b.

[0160] The gripping device of the present invention preferably further has a forklift tine insertion channel into which the forks of a forklift are inserted. This allows for effective use of the highly versatile forklift 50, and enables the object 30 to be freely moved from the gripping position to the desired position using the forklift 50. The forklift tine insertion channel 43a into which the forklift tines 51 are inserted is provided on a flat pallet-shaped base 43, as shown in Figure 2, and is fixed so as to be joined to the base material 11.

[0161] Furthermore, if a flat pallet-shaped base 43 is fixed to the base material 11, the arithmetic unit 41 and the power source unit 42 are installed on the flat pallet-shaped base 43 rather than on the substrate 11a of the base material 11 due to space constraints.

[0162] In the gripping device of the present invention, in order to facilitate gripping even if the object is asymmetrical, with different shapes on the right and left sides, or if the object's shape is easily deformed, the first locking part detects the first contact member that has moved to a predetermined position via the first contact member extrusion plate that has moved to a predetermined position using the first position detection means, or detects the first contact member that has moved to a predetermined position using the first contact member detection means, and detects the second contact member that has moved to a predetermined position via the second contact member extrusion plate that has moved to a predetermined position using the second position detection means, or detects the second contact member that has moved to a predetermined position using the second contact member detection means Preferably, after detecting the contact members, the plurality of first contact members are fixed in an immovable state, and the second locking part detects the second contact members that have moved to a predetermined position via the second contact member extrusion plate that has moved to a predetermined position using the second position detection means, or detects the second contact members that have moved to a predetermined position using the second contact member detection means, and also detects the first contact members that have moved to a predetermined position via the first contact member extrusion plate that has moved to a predetermined position using the first position detection means, or detects the first contact members that have moved to a predetermined position using the first contact member detection means, and then fixes the plurality of second contact members in an immovable state.

[0163] An example of the operation of the gripping device of the present invention, from the time the device is activated until just before the contact member comes into contact with the object, will be described.

[0164] When the gripping device of the present invention is activated, the calculator transmits a command signal to the first drive unit of the first variable control unit to move the first variable member in the direction of opening relative to the second variable member, in order to return the first variable member and the second variable member to their initial state, that is, to the state in which they are furthest apart from each other. Simultaneously, it transmits a command signal to the second drive unit of the second variable control unit to move the second variable member in the direction of opening relative to the first variable member.

[0165] Upon receiving a command signal from the arithmetic unit to move the first variable member in the direction of opening relative to the second variable member, the first drive unit applies thrust to the first transport member. The first transport member, having received thrust, moves in a direction that increases its distance from the second transport member, following the guidance of the first guide member, and consequently, the first housing moves in a direction that increases its distance from the second housing.

[0166] When the first drive unit detects that the first variable member has moved to its initial position, it transmits a signal to the arithmetic unit indicating that the initial position of the first variable member has been detected.

[0167] Upon receiving a command signal from the arithmetic unit to move the second variable member in the direction of opening relative to the first variable member, the second drive unit applies thrust to the second transport member. The second transport member, having received thrust, moves in a direction that increases its distance from the first transport member, following the guidance of the second guide member, and consequently, the second housing moves in a direction that increases its distance from the first housing.

[0168] When the second drive unit detects that the second variable member has moved to its initial position, it transmits a signal to the arithmetic unit indicating the detection of the initial position of the second variable member.

[0169] Upon receiving both the detection signal for the initial state position of the first variable member sent from the first drive unit and the detection signal for the initial state position of the second variable member sent from the second drive unit, the arithmetic unit transmits a command signal to the first extruder to push out the first extruder, which is necessary to return the first contact member to its initial state, i.e., to the state in which the first contact member is most protruding from the first housing. Simultaneously, it transmits a command signal to the second extruder to push out the second extruder, which is necessary to return the second contact member to its initial state, i.e., to the state in which the second contact member is most protruding from the second housing.

[0170] Upon receiving a command signal from the arithmetic unit to extrude the first extruder, the first extruder moves the first extruder toward the opposing surface of the first housing. As the first extruder moves toward the opposing surface of the first housing, the first contact member extruder plate, which is coupled with the first extruder, moves toward the opposing surface of the first housing. As the first contact member extruder plate moves toward the opposing surface of the first housing, the other end portions of all first contact members are pushed toward the opposing surface of the first housing, and the one end portions of all first contact members move toward protruding from the first housing. Upon receiving a command signal from the arithmetic unit to extrude the second extruder, the second extruder moves the second extruder toward the opposing surface of the second housing. As the second extruder moves toward the opposing surface of the second housing, the second contact member extruder plate, which is coupled with the second extruder, moves toward the opposing surface of the second housing. As the second contact member extrusion plate moves toward the opposing surface of the second housing, the other end portions of all second contact members are pushed toward the opposing surface of the second housing, and the one end portions of all second contact members move toward the protruding surface of the second housing.

[0171] When the rear end portion of the first extruded member reaches the first forward position detection means and the first forward position detection means detects the rear end portion of the first extruded member, the first forward position detection means transmits a detection signal for the first contact member extruder plate to the arithmetic unit. Upon receiving the detection signal for the first contact member extruder plate from the first forward position detection means, the arithmetic unit transmits a command signal to the first extruder to stop the movement of the first extruded member. Upon receiving the command signal from the arithmetic unit to stop the movement of the first extruded member, the first extruder stops moving the first extruded member. When the movement of the first extruded member stops, the first contact member extruder plate that is coupled to the first extruded member also stops moving. Then, one end portion of all first contact members protrudes to its longest extent from the first housing, and all first contact members return to their initial state.

[0172] When the rear end portion of the second extruded member reaches the second forward position detection means and the second forward position detection means detects the rear end portion of the second extruded member, the second forward position detection means transmits a detection signal for the second contact member extruder plate to the arithmetic unit. Upon receiving the detection signal for the second contact member extruder plate from the second forward position detection means, the arithmetic unit transmits a command signal to the second extruder to stop the movement of the second extruded member. Upon receiving the command signal from the arithmetic unit to stop the movement of the second extruded member, the second extruder stops moving the second extruded member. When the movement of the second extruded member stops, the second contact member extruder plate that is coupled to the second extruded member also stops moving. Then, one end portion of all second contact members protrudes to its longest extent from the second housing, and all second contact members return to their initial state.

[0173] Once all first contact members and all second contact members are in their initial state, the gripping device is moved so that the object is positioned between the first gripping means and the second gripping means, while maintaining the initial state of all first contact members and all second contact members.

[0174] When the gripping device is moved and the object is positioned between the first gripping means and the second gripping means, a command signal is transmitted to the arithmetic unit to start the operation of the first gripping means and the second gripping means. Upon receiving the command signal to start the operation of the first gripping means and the second gripping means, the arithmetic unit transmits a command signal to the first drive device to start the operation of the first drive device, and at the same time transmits a command signal to the second drive device to start the operation of the second drive device.

[0175] Upon receiving a command signal from the arithmetic unit to start the operation of the first drive unit, the first drive unit applies thrust to the first transport member. The first transport member, having received thrust, moves in a direction that brings it closer to the second guide member, following the guidance of the first guide member, and consequently, the first housing moves in a direction that brings it closer to the second housing. Upon receiving a command signal from the arithmetic unit to start the operation of the second drive unit, the second drive unit applies thrust to the second transport member. The second transport member, having received thrust, moves in a direction that brings it closer to the second guide member, following the guidance of the second guide member, and similarly, the second housing moves in a direction that brings it closer to the first housing.

[0176] In the gripping device of the present invention, an example of the operation from when one of the first contact members comes into contact with the object, to when the first gripping means and the second gripping means grip the object in a way that envelops it, will be described.

[0177] If the first contact member detection means is not housed inside the first housing, after one of the multiple first contact members contacts the object, the first contact member is pushed in. The other end of the first contact member pushes in the first contact member extrusion plate, and the pushed-in first contact member extrusion plate moves together with the first extrusion member that is coupled to the first contact member extrusion plate. When the rear end portion of the first extrusion member reaches the first rear position detection means and the first rear position detection means detects the rear end portion of the first extrusion member, the first rear position detection means transmits a detection signal for the first contact member extrusion plate to the arithmetic unit.

[0178] If the first contact member detection means is housed inside the first housing, after one of the multiple first contact members comes into contact with the object, the first contact member is pushed in. When the other end of the first contact member reaches the first contact member detection means and the first contact member detection means detects the other end of the first contact member, the first contact member detection means transmits a detection signal for the first contact member to the arithmetic unit.

[0179] Upon receiving a detection signal of the first contact member extrusion plate sent from the first rear position detection means, or a detection signal of the first contact member sent from the first contact member detection means, the arithmetic unit decides to stop the operation of the first drive device and transmits a command signal to the first drive device of the first variable control unit to stop the operation of the first drive device.

[0180] Upon receiving a command signal from the computing unit to stop the operation of the first drive unit, the first drive unit stops supplying thrust to the first transport member. Having lost thrust, the first transport member stops moving, and consequently, the movement of the first housing also stops, and the first housing becomes fixed in place.

[0181] If the second contact member detection means is not housed inside the second housing, after one of the multiple second contact members contacts the object, the second contact member is pushed in. The other end of the second contact member pushes in the second contact member extrusion plate, and the pushed-in second contact member push plate moves together with the second extrusion member that is coupled to the second contact member push plate. When the other end of the second push member reaches the second rear position detection means and the second rear position detection means detects the rear end of the second extrusion member, the second rear position detection means transmits a detection signal for the second contact member extrusion plate to the arithmetic unit.

[0182] If the second contact member detection means is housed inside the second housing, after one of the multiple second contact members comes into contact with the object, the second contact member is pushed in. When the other end of the second contact member reaches the second contact member detection means and the second contact member detection means detects the other end of the second contact member, the second contact member detection means transmits a detection signal for the second contact member to the arithmetic unit.

[0183] Upon receiving a detection signal from the second rear position detection means for the second contact member extrusion plate, or a detection signal from the second contact member detection means for the second contact member, the arithmetic unit decides to stop the operation of the second drive device and transmits a command signal to the second drive device of the second variable control unit to stop the operation of the second drive device. Upon receiving the command signal from the arithmetic unit to stop the operation of the second drive device, the second drive device stops supplying thrust to the second transport member. Having lost thrust, the second transport member stops moving, and consequently, the movement of the second housing also stops, and the second housing becomes fixed.

[0184] The arithmetic unit determines whether the timing conditions for the start of the locking operation of the first locking unit, which are predetermined, are met. Examples of timing conditions for the start of the locking operation of the first locking unit include immediately after the arithmetic unit receives the detection signal of the first contact member extruder or the detection signal of the first contact member, or immediately after the arithmetic unit receives both the detection signal of the first contact member extruder or the detection signal of the first contact member and the detection signal of the second contact member extruder or the detection signal of the second contact member. However, the following description assumes that the arithmetic unit receives both the detection signal of the first contact member extruder or the detection signal of the first contact member and the detection signal of the second contact member extruder or the detection signal of the second contact member.

[0185] The arithmetic unit determines that the predetermined timing conditions for starting the lock operation of the first lock unit are met, and decides to start the lock operation of the first lock unit. However, if it determines that the predetermined timing conditions for starting the lock operation of the first lock unit are not met, it does not decide to start the lock operation of the first lock unit and waits for the desired detection signal.

[0186] When the arithmetic unit decides to start the locking operation of the first locking unit, it sends a command signal to the first contact member restraint plate controller of the first locking unit to move the first contact member restraint plate vertically downward relative to the movement of the first contact member.

[0187] Upon receiving a command signal from the arithmetic unit to move the first contact member restraint plate vertically downward relative to the movement of the first contact member, the first contact member restraint plate controller pushes out the first rod-shaped body so that it moves vertically downward relative to the movement of the first contact member, and moves the first contact member restraint plate, which is coupled to the first rod-shaped body, vertically downward relative to the movement of the first contact member. When the first contact member restraint plate moves vertically downward relative to the movement of the first contact member, of the communication holes located at positions aligned with the longitudinal direction of the first contact member, only the first contact member restraint plate communication hole of the first contact member restraint plate shifts vertically downward, and the first contact member is restrained by the pressing force of the first contact member restraint plate and the supporting force of the first contact member support plate, thereby fixing the first contact member.

[0188] The arithmetic unit also determines whether the timing conditions for the start of the locking operation of the second locking unit, which are predetermined, are met. Examples of timing conditions for the start of the locking operation of the second locking unit include immediately after the arithmetic unit receives the detection signal of the second contact member extruder or the detection signal of the second contact member, or immediately after the arithmetic unit receives both the detection signal of the second contact member extruder or the detection signal of the second contact member and the detection signal of the second contact member extruder or the detection signal of the second contact member. However, the following description assumes that the arithmetic unit receives both the detection signal of the second contact member extruder or the detection signal of the second contact member and the detection signal of the second contact member extruder or the detection signal of the second contact member.

[0189] The arithmetic unit determines that the timing conditions for starting the lock operation of the second lock unit are met, and decides to start the lock operation of the second lock unit. However, if it determines that the timing conditions for starting the lock operation of the second lock unit are not met, it does not decide to start the lock operation of the second lock unit and waits for the desired detection signal.

[0190] When the arithmetic unit decides to start the locking operation of the second locking unit, it sends a command signal to the second contact member restraint plate controller of the second locking unit to move the second contact member restraint plate vertically downward relative to the movement of the second contact member.

[0191] Upon receiving a command signal from the arithmetic unit to move the second contact member restraint plate vertically downward relative to the movement of the second contact member, the second contact member restraint plate controller pushes out the second rod-shaped body so that it moves vertically downward relative to the movement of the second contact member, and moves the second contact member restraint plate, which is connected to the second rod-shaped body, vertically downward relative to the movement of the second contact member. When the second contact member restraint plate moves vertically downward relative to the movement of the second contact member, of the communication holes located at positions aligned with the longitudinal direction of the second contact member, only the communication hole of the second contact member restraint plate shifts vertically downward, and the second contact member is restrained by the pressing force of the second contact member restraint plate and the supporting force of the second contact member support plate, thereby fixing the second contact member.

[0192] As described above, the first housing, the second housing, the first contact members, and the second contact members are fixed in a state where the object is in contact with the multiple first contact members and the multiple second contact members, so that the object is gripped by the first gripping means and the second gripping means in a way that envelops it.

[0193] An example of the operation of the gripping device of the present invention, from moving the object to a desired position to returning the first contact member and the second contact member to their initial state, will be described.

[0194] When the object has been moved to the desired position, the arithmetic unit sends a command signal to the first drive unit to move the first variable member in the direction of opening relative to the second variable member, in order to release the object from the gripping state, so that the first variable member and the second variable member are furthest apart, i.e., to return the first variable member and the second variable member to their initial state, and at the same time sends a command signal to the second drive unit to move the second variable member in the direction of opening relative to the first variable member.

[0195] Upon receiving a command signal from the arithmetic unit to move the first variable member in the direction of opening relative to the second variable member, the first drive unit applies thrust to the first transport member. The first transport member, having received thrust, moves in a direction that increases its distance from the second transport member, following the guidance of the first guide member, and consequently, the first housing moves in a direction that increases its distance from the second housing.

[0196] When the first drive unit detects that the first variable member has moved to its initial position, it transmits a signal to the arithmetic unit indicating that the initial position of the first variable member has been detected.

[0197] Upon receiving a command signal from the arithmetic unit to move the second variable member in the direction of opening relative to the first variable member, the second drive unit applies thrust to the second transport member. The thrust-applied second transport member moves in the direction of increasing distance from the first transport member, following the guidance of the second guide member, and similarly, the second housing moves in the direction of increasing distance from the first housing. When the second drive unit detects that the second variable member has moved to its initial position, it transmits a signal to the arithmetic unit indicating the detection of the initial position of the second variable member.

[0198] Upon receiving both the detection signal for the initial state position of the first variable member, sent from the first drive device, and the detection signal for the initial state position of the second variable member, sent from the second drive device, the arithmetic unit decides to release the lock operation of the first lock unit and the lock operation of the second lock unit. The arithmetic unit simultaneously sends a command signal to the first contact member restraint plate controller of the first lock unit to move the first contact member restraint plate vertically upward relative to the movement of the second contact member, and also sends a command signal to the second contact member restraint plate controller of the second lock unit to move the second contact member restraint plate vertically upward relative to the movement of the second contact member.

[0199] Upon receiving a command signal from the arithmetic unit to move the first contact member restraint plate vertically upward relative to the movement of the first contact member, the first contact member restraint plate controller pulls up the first rod-shaped body so that it moves vertically upward relative to the movement of the first contact member, and moves the first contact member restraint plate, which is connected to the first rod-shaped body, vertically downward relative to the movement of the first contact member. When the first contact member restraint plate moves vertically upward relative to the direction of movement of the first contact member, only the first contact member restraint plate communication hole of the first contact member restraint plate, among the communication holes located at positions corresponding to the longitudinal direction of the first contact member, moves vertically upward, the locking operation of the first locking part ends, and it returns to the initial state. That is, the first contact member is now only supported by the first contact member support plate and the first contact member restraint plate, and all first contact members become movable.

[0200] Upon receiving a command signal from the arithmetic unit to move the second contact member restraint plate vertically upward relative to the movement of the second contact member, the second contact member restraint plate controller pulls up the second rod-shaped body so that it moves vertically upward relative to the movement of the second contact member, and moves the second contact member restraint plate, which is connected to the second rod-shaped body, vertically downward relative to the movement of the second contact member. When the second contact member restraint plate moves vertically upward relative to the direction of movement of the second contact member, only the second contact member restraint plate communication hole of the second contact member restraint plate, among the communication holes located at positions aligned with the longitudinal direction of the second contact member, moves vertically upward, the locking operation of the second locking part ends, and it returns to its initial state. That is, the second contact member is now only supported by the second contact member support plate and the second contact member restraint plate, and all second contact members become movable.

[0201] Subsequently, the arithmetic unit transmits a command signal to the first extruder to extrude the first extruded member, and at the same time transmits a command signal to the second extruder to extrude the second extruded member.

[0202] Upon receiving a command signal from the arithmetic unit to extrude the first extruder, the first extruder moves the first extruder toward the opposing surface of the first housing. As the first extruder moves toward the opposing surface of the first housing, the first contact member extruder plate, which is coupled with the first extruder, also moves toward the opposing surface of the first housing. As the first contact member extruder plate moves toward the opposing surface of the first housing, the other end portions of all first contact members are pushed toward the opposing surface of the first housing, and the one end portions of all first contact members move toward protruding from the first housing.

[0203] Subsequently, when the rear end portion of the first extruded member reaches the first forward position detection means and the first forward position detection means detects the rear end portion of the first extruded member, the first forward position detection means transmits a detection signal for the first contact member extruder plate to the arithmetic unit. Upon receiving the detection signal for the first contact member extruder plate from the first forward position detection means, the arithmetic unit transmits a command signal to the first extruder to stop the movement of the first extruded member. Upon receiving the command signal from the arithmetic unit to stop the movement of the first extruded member, the first extruder stops moving the first extruded member. When the movement of the first extruded member stops, the first contact member extruder plate that is coupled to the first extruded member also stops moving. Then, one end portion of all first contact members protrudes to its longest extent from the first housing, and all first contact members return to their initial state.

[0204] Upon receiving a command signal from the arithmetic unit to extrude the second extruder, the second extruder moves the second extruder toward the opposing surface of the second housing. As the second extruder moves toward the opposing surface of the second housing, the second contact member extruder plate, which is coupled with the second extruder, also moves toward the opposing surface of the second housing. As the second contact member extruder plate moves toward the opposing surface of the second housing, the other end portions of all second contact members are pushed toward the opposing surface of the second housing, and the one end portions of all second contact members move toward protruding from the second housing.

[0205] Subsequently, when the rear end portion of the second extruded member reaches the second forward position detection means and the second forward position detection means detects the rear end portion of the second extruded member, the second forward position detection means transmits a detection signal for the second contact member extruder plate to the arithmetic unit. Upon receiving the detection signal for the second contact member extruder plate from the second forward position detection means, the arithmetic unit transmits a command signal to the second extruder to stop the movement of the second extruded member. Upon receiving the command signal from the arithmetic unit to stop the movement of the second extruded member, the second extruder stops moving the second extruded member. When the movement of the second extruded member stops, the second contact member extruder plate that is coupled to the second extruded member also stops moving. Then, one end portion of all second contact members protrudes to its longest extent from the second housing, and all second contact members return to their initial state. [Explanation of Symbols]

[0206] 10 Gripping device 11 Base material 11a substrate 12 First gripping means 13 First cabinet 13a Opposite side of the first enclosure 13b Rear view of the first cabinet 14 Multiple first contact members 14a First contact member 14b One end portion of the first contact member 14c Shaft portion of the first contact member 14d Annular groove of the first contact member 14e Helical groove of the first contact member 14f Other end portion of the first contact member 15 First Variable Control Unit 15a First variable member 15b First conveying member 15c First guide member 15d First drive equipment 16 First Lock Section 16a First contact member support plate 16b First contact member restraint plate 16c First contact member support plate communication hole 16d First contact member restraint plate communication hole 16e Lubricating material 16f Helical groove of the communication hole in the first contact member restraint plate 16g First contact member restraint plate controller 17a First contact member extruded plate 17b First extruder 17c First extruded member 17d First forward position detection means 17e First rear position detection means 18 First contact member detection means 22 Second gripping means 23 Second Enclosure 24 Multiple second contact members 24a Second contact member 24b One end portion of the second contact member 24c Shaft portion of the second contact member 24f Other end portion of the second contact member 25 Second Variable Control Unit 25a Second variable member 25b Second conveying member 25c Second guide member 25d Second drive unit 26 Second Rock Club 26a Second contact member support plate 26b Second contact member restraint plate 26c Second contact member support plate communication hole 26d Second contact member restraint plate communication hole 26g Second contact member restraint plate controller 27a Second contact member extruded plate 27b Second extruder 27c Second extruded member 27d Second forward position detection means 27e Second rear position detection means 30 Objects 41 Arithmetic unit 42 Power source device 43. Base of flat pallet 43a Forklift fork insertion route 50 Forklifts 51 Forklift tines

Claims

1. A gripping device that grips an object using a pair of gripping means, consisting of a first gripping means and a second gripping means, which are positioned opposite each other, The gripping device comprises a first housing including a hollow portion, A first gripping means having a plurality of first contact members that penetrate the opposing surface of the first housing facing the second gripping means from inside the first housing, but do not penetrate the back surface of the first housing, and optionally contact the object, A first variable control unit that allows the position of the first gripping means to be changed as appropriate, The first locking mechanism includes a plurality of immovable first contact member support plates housed inside the first housing, each having a first contact member support plate communication hole corresponding to each of the plurality of first contact members, and a plurality of first contact member restraint plates housed inside the first housing, each having a first contact member restraint plate communication hole corresponding to each of the plurality of first contact members, and being movable in a direction perpendicular to the direction in which the first contact members move, wherein the interaction of the plurality of first contact member support plates and the plurality of first contact member restraint plates allows all of the plurality of first contact members to be fixed in an immovable state, A first contact member extrusion plate, housed inside the first housing and used to extrude all of the plurality of first contact members, A first position detection means is provided, which is located outside or inside the first housing and is used to detect the first contact member extrusion plate when it has moved to a predetermined position. The second housing, including the hollow section, A second gripping means having a plurality of second contact members that extend from inside the second housing, penetrate the opposing surface of the second housing that faces the first gripping means, but do not penetrate the back surface of the second housing, and optionally contact the object, A second variable control unit that allows the position of the second gripping means to be changed as appropriate, The second locking mechanism includes a plurality of immovable second contact member support plates housed inside the second housing, each having a second contact member support plate communication hole corresponding to each of the plurality of second contact members, and a plurality of second contact member restraint plates housed inside the second housing, each having a second contact member restraint plate communication hole corresponding to each of the plurality of second contact members, and being movable in a direction perpendicular to the direction in which the second contact members move, wherein the interaction of the plurality of second contact member support plates and the plurality of second contact member restraint plates allows all of the plurality of second contact members to be fixed in an immovable state, A second contact member extrusion plate, which is housed inside the second housing and used to push out all of the plurality of second contact members, A second position detection means is provided, which is located outside or inside the second housing and is used to detect the second contact member extrusion plate when it has moved to a predetermined position. A gripping device characterized by comprising:

2. The first housing is housed inside the first housing and includes a first contact member detection means for detecting a first contact member that has moved to a predetermined position among the plurality of first contact members, The gripping device according to claim 1, further comprising a second contact member detection means housed inside the second housing for detecting a second contact member that has moved to a predetermined position among the plurality of second contact members.

3. The plurality of first contact members have a plurality of annular grooves or at least one helical groove on their outer circumferential surface, and The gripping device according to claim 1, characterized in that the plurality of second contact members have a plurality of annular grooves or at least one helical groove on their outer circumferential surface.

4. The plurality of first contact members have a plurality of annular grooves or at least one helical groove on their outer circumferential surface, and The gripping device according to claim 2, characterized in that the plurality of second contact members have a plurality of annular grooves or at least one helical groove on their outer circumferential surface.

5. Between the first contact member support plate communication hole and the first contact member, a lubricating material is inserted that does not hinder the movement and fixing of the first contact member, and, The gripping device according to claim 3, characterized in that a lubricating material that does not hinder the movement and fixing of the second contact member is inserted between the communication hole of the second contact member support plate and the second contact member.

6. Between the first contact member support plate communication hole and the first contact member, a lubricating material is inserted that does not hinder the movement and fixing of the first contact member, and, The gripping device according to claim 4, characterized in that a lubricating material that does not hinder the movement and fixing of the second contact member is inserted between the communication hole of the second contact member support plate and the second contact member.

7. The first contact member restraint plate communication hole is oval-shaped or a Daruma doll shape formed by combining the arcs of two circles of different diameters, and The gripping device according to claim 5, characterized in that the communication hole in the second contact member restraint plate is oval-shaped or a daruma shape formed by combining the arcs of two circles of different diameters.

8. The first contact member restraint plate communication hole is oval-shaped or a Daruma doll shape formed by combining the arcs of two circles of different diameters, and The gripping device according to claim 6, characterized in that the communication hole in the second contact member restraint plate is oval-shaped or a daruma shape formed by combining the arcs of two circles of different diameters.

9. The first locking unit detects the first contact member that has moved to a predetermined position via the first contact member extrusion plate that has moved to a predetermined position using the first position detection means, and detects the second contact member that has moved to a predetermined position via the second contact member extrusion plate that has moved to a predetermined position using the second position detection means, and then fixes the plurality of first contact members in an immovable state. The gripping device according to claim 1, characterized in that the second locking portion detects the second contact member that has moved to a predetermined position via the second contact member extrusion plate that has moved to a predetermined position using the second position detection means, and detects the first contact member that has moved to a predetermined position via the first contact member extrusion plate that has moved to a predetermined position using the first position detection means, and then fixes the plurality of second contact members in an immovable state.

10. The first locking mechanism detects the first contact member that has moved to a predetermined position using the first contact member detection means, and detects the second contact member that has moved to a predetermined position using the second contact member detection means, and then fixes the plurality of first contact members in an immobile state. The gripping device according to claim 2, characterized in that the second locking portion detects the second contact member that has moved to a predetermined position using the second contact member detection means, and after detecting the first contact member that has moved to a predetermined position using the first contact member detection means, fixes the plurality of second contact members in an immobile state.

11. The first locking unit detects the first contact member that has moved to a predetermined position via the first contact member extrusion plate that has moved to a predetermined position using the first position detection means, and detects the second contact member that has moved to a predetermined position via the second contact member extrusion plate that has moved to a predetermined position using the second position detection means, and then fixes the plurality of first contact members in an immovable state. The gripping device according to claim 3, characterized in that the second locking portion detects the second contact member that has moved to a predetermined position via the second contact member extrusion plate that has moved to a predetermined position using the second position detection means, and detects the first contact member that has moved to a predetermined position via the first contact member extrusion plate that has moved to a predetermined position using the first position detection means, and then fixes the plurality of second contact members in an immobile state.

12. The first locking mechanism detects the first contact member that has moved to a predetermined position using the first contact member detection means, and detects the second contact member that has moved to a predetermined position using the second contact member detection means, and then fixes the plurality of first contact members in an immobile state. The gripping device according to claim 4, characterized in that the second locking portion detects the second contact member that has moved to a predetermined position using the second contact member detection means, and after detecting the first contact member that has moved to a predetermined position using the first contact member detection means, fixes the plurality of second contact members in an immobile state.

13. The gripping device according to any one of claims 1 to 12, characterized in that it has a forklift tine insertion path into which the tines of a forklift are inserted.

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