Clamping device and clamping end effector

Abstract

The present invention provides a clamping device and a clamping end effector that can cut and compress an object in a single operation. [Solution] In the clamping device 1, a first region 13 and a third region 23 face each other to form a compression region, and a second region 14 and a fourth region 24 face each other to form a cutting region. The first region has a first convex portion 15 that protrudes toward the third region and a first concave portion 16 that is recessed away from the third region. The third region has a second convex portion 25 that protrudes toward the first region and faces the first concave portion in a first direction, and a second concave portion 26 that is recessed away from the first region and faces the first convex portion in a first direction. At least one of the second region and the fourth region has blade portions 17, 27 that protrude more sharply than the first convex portion and the second convex portion from one of the second region and the fourth region toward the other. The clamping end effector 100 comprises the clamping device 1.

Description

Technical Field

[0001] This embodiment relates to a clamping device and a clamping end effector.

Background Art

[0002] When removing brake-related components such as struts with hubs, brake calipers, and ABS (antilock brake system) from the body of a scrapped vehicle, it is necessary to cut the pipes containing brake fluid. Conventionally, the pipes have been manually cut using a bolt clipper, also called a wire cutter. Since brake fluid leaks from the cut portion of the pipe, a rubber cap may be attached to the cut portion to prevent leakage when the leakage amount is large.

[0003] Patent Document 1 discloses a cutting tool for cutting a metal pipe with a cutting blade. This cutting tool includes a support member, a cutting member, and a link member. The support member has its proximal end fixed to the tool body and is provided opposite to each other, and a shaft is fitted into the distal end side. The cutting member is provided so as to be rotatable about the shaft, and a cutting blade capable of sandwiching the metal pipe from both sides at the distal end side and crushing the metal pipe to cut it is provided. The link member has one end side linked to the movable part of the tool body and the other end side linked to the rear end side of the cutting member, and rotates the cutting member about the shaft.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In recent years, for example, in the automotive industry as well, there has been a demand for improving the efficiency of disassembling and sorting operations of scrapped vehicles.

[0006] Therefore, we provide a clamping device and a clamping end effector that can cut and compress an object at the same time. [Means for solving the problem]

[0007] The clamping device (1) of the present disclosure comprises a first blade member (10) and a second blade member (20) that are adjacent to each other with respect to a first direction (R, Z). The first blade member has a first region (13) and a second region (14) aligned in a second direction (X) perpendicular to the first direction. The second blade member has a third region (23) and a fourth region (24) aligned in the second direction. In the first direction, the first region and the third region face each other to form a compression region. In the first direction, the second region and the fourth region face each other to form a cutting region. The first region has a first convex portion (15) projecting toward the third region and a first concave portion (16) recessed away from the third region. The third region has a second convex portion (25) that protrudes toward the first region and faces the first concave portion in the first direction, and a second concave portion (26) that recedes away from the first region and faces the first convex portion in the first direction. At least one of the second region and the fourth region has a cutting edge portion (18, 28) that protrudes more sharply than the first convex portion and the second convex portion from one of the second region and the fourth region toward the other.

[0008] The clamping end effector (100) of this disclosure is mounted on the tip of a robot arm. The clamping end effector comprises a first blade member (10) and a second blade member (20) that are driven by a drive device and move toward and away from each other with respect to a first direction (R, Z). The first blade member has a first region (13) and a second region (14) aligned in a second direction (X) perpendicular to the first direction. The second blade member has a third region (23) and a fourth region (24) aligned in the second direction. In the first direction, the first region and the third region face each other and constitute a compression region. In the first direction, the second region and the fourth region face each other and constitute a cutting region. The first region has a first convex portion (15) projecting toward the third region and a first concave portion (16) recessed away from the third region. The third region has a second convex portion (25) that protrudes toward the first region and faces the first concave portion in the first direction, and a second concave portion (26) that recedes away from the first region and faces the first convex portion in the first direction. At least one of the second region and the fourth region has a blade portion (18, 28) that protrudes more sharply than the first convex portion and the second convex portion from one of the second region and the fourth region toward the other.

[0009] According to the clamping device and clamping end effector of this disclosure, an object can be clamped by manually moving the first blade member and the second blade member closer together in a first direction, either by the user or by driving a robot. By moving the first blade member and the second blade member closer together in a first direction, the object can be compressed and crushed by the first and third regions. By moving the first blade member and the second blade member closer together in a first direction, the object can be cut by the second and fourth regions. In this way, with the clamping end effector of this application, crushing and cutting operations can be achieved in a single clamping operation. That is, there is no need to switch between a crushing tool for crushing and a cutting tool for cutting, or to prepare a robot for crushing and a robot for cutting. As a result, the dismantling work is sped up. Furthermore, if the object is a pipe, the pipe can be crushed by the first and third regions. At the same time, the pipe can be cut by the second and fourth regions. This suppresses liquid leakage from the pipe during the cutting operation. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is a schematic diagram showing an example of applying a clamping device according to one embodiment to a clamping end effector, with the first blade member and the second blade member in a closed state. [Figure 2] Figure 2 is a schematic diagram showing an example of applying a clamping device according to one embodiment to a clamping end effector, with the first blade member and the second blade member separated and open. [Figure 3] Figure 3 is a schematic cross-sectional view of a clamping device according to the first embodiment, showing an arbitrary state in which the first blade member and the second blade member are separated, along the line III-III in Figure 1. [Figure 4] Figure 4 is a schematic cross-sectional view of a clamping device according to a first embodiment, showing the state in which the first blade member and the second blade member are close together, along the line III-III in Figure 1. [Figure 5] Figure 5 is a schematic diagram showing one step of the clamping process for the clamping device according to the first embodiment. [Figure 6]Figure 6 is a schematic diagram showing one step in the clamping process of a clamping device according to one embodiment. [Figure 7] Figure 7 is a schematic diagram showing one step in the clamping process of a clamping device according to one embodiment. [Figure 8] Figure 8 is a schematic diagram showing one step in the clamping process of a clamping device according to one embodiment. [Figure 9] Figure 9 is a cross-sectional view of a clamping device according to one embodiment, shown along the line III-III in Figure 1, in a state where the first blade member and the second blade member are separated. [Figure 10] Figure 10 is a cross-sectional view of a clamping device according to one embodiment, shown along the line III-III in Figure 1, and shows the state in which the first blade member and the second blade member are close together. [Figure 11] Figure 11 is a cross-sectional view of a clamping device according to one embodiment, shown along the line III-III in Figure 1, in a state where the first blade member and the second blade member are separated. [Figure 12] Figure 12 is a cross-sectional view of a clamping device according to one embodiment, shown along the line III-III in Figure 1, and shows the state in which the first blade member and the second blade member are close together. [Figure 13] Figure 13 is a cross-sectional view of a clamping device according to one embodiment, shown along the line III-III in Figure 1, and shows the first blade member and the second blade member separated from each other. [Figure 14] Figure 14 is a cross-sectional view of a clamping device according to one embodiment, shown along the line III-III in Figure 1, and shows the first blade member and the second blade member separated from each other. [Figure 15] Figure 15 is a schematic diagram showing an example of applying a clamping device according to one embodiment to a tool. [Figure 16] Figure 16 is a schematic diagram of an example in which a clamping device according to one embodiment is applied to a clamping end effector. [Figure 17] Figure 17 is a schematic diagram of an example in which a clamping device according to one embodiment is applied to a clamping end effector. [Figure 18] Figure 18 is a schematic diagram of an example in which a clamping device according to one embodiment is applied to a clamping end effector. [Figure 19] FIG. 19 is a schematic diagram showing an example in which the clamping device according to one embodiment is applied to a tool.

DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, a clamping device and a clamping end effector according to a plurality of embodiments will be described with reference to the drawings. The same reference numerals are assigned to substantially the same configurations in the plurality of embodiments, and the description thereof will be omitted. In each figure, for convenience of explanation, the dimensions of each configuration may be appropriately enlarged or reduced as necessary, and the dimensional ratios between the configurations are not necessarily the same as the actual dimensional ratios.

[0012] (First Embodiment) Referring to FIGS. 1 to 8, the first embodiment will be described. The clamping end effector 100 can be attached to a robot arm of an industrial robot used, for example, in a vehicle disassembly operation. The clamping end effector 100 can perform compression and cutting of an object such as a pipe for brake fluid in a single operation. Therefore, it is possible to quickly and easily suppress the leakage of the fluid contained inside from the cutting portion of the object.

[0013] As shown in FIGS. 1 and 2, the clamping end effector 100 includes a clamping device 1, a shaft member 2, an end effector body 3, and a drive device 4. The clamping device 1 is a part that is driven by the drive device 4 to realize the function of the clamping end effector 100. The shaft member 2 has a rotation axis Ax. The rotation axis Ax extends in a direction perpendicular to the plane of FIG. 1. The end effector body 3 constitutes the outer shell of the clamping end effector 100 and supports the clamping device 1, the shaft member 2, and the drive device 4. The end effector body 3 is connected to a robot arm not shown. The drive device 4 receives power supply and control via a robot arm not shown and drives the clamping device 1. Note that the drive device 4 may be provided in the clamping end effector 100 or may be provided in the robot arm.

[0014] The clamping device 1 is composed of a first blade member 10 and a second blade member 20. The first blade member 10 and the second blade member 20 are arranged facing each other. The first blade member 10 and the second blade member 20 can move closer to or further away from each other with respect to a first direction. That is, the first blade member 10 and the second blade member 20 move closer to or further away from each other with respect to a first direction. The first blade member 10 and the second blade member 20 each have a width in a second direction perpendicular to the first direction. In this embodiment, as shown in Figures 1 and 2, the first blade member 10 and the second blade member 20 can move closer to or further away from each other with respect to the rotational direction around the rotation axis Ax by rotating around the rotation axis Ax of the shaft member 2. The first blade member 10 and the second blade member 20 have a width in the X direction perpendicular to the rotational direction. Hereafter, the rotational direction around the rotation axis Ax may be simply referred to as the rotational direction. Furthermore, the direction parallel to the axial direction of the rotation axis Ax is sometimes referred to as the X direction, and the radial direction perpendicular to both the X direction and the rotation direction is sometimes referred to as the Y direction. In drawings, the rotation direction is indicated by R.

[0015] As shown in Figures 1 and 2, the first blade member 10 has a first body portion 11. The second blade member 20 has a second body portion 21. The first body portion 11 and the second body portion 21 compress and cut the object 200 by moving relatively closer to each other. The first body portion 11 and the second body portion 21 each extend along the Y direction and are arranged facing each other in the rotational direction. The first body portion 11 and the second body portion 21 are provided on the tip side of the clamping device 1, that is, on the side away from the end effector body 3 in the Y direction. With the object 200 placed between the first body portion 11 and the second body portion 21, the clamping device 1 rotates the first blade member 10 and the second blade member 20 to move closer to each other, thereby clamping the object 200 between the first body portion 11 and the second body portion 21. The clamping device 1 further compresses and cuts the object 200 by rotating the first blade member 10 and the second blade member 20 so that they are closer to each other. The first main body portion 11 and the second main body portion 21 do not necessarily have to be formed over the entire Y-direction of the first blade member 10 and the second blade member 20, but they are formed over at least a part of the Y-direction. The first main body portion 11 and the second main body portion 21 are formed at least in the parts that come into contact with the object 200 when the object 200 is clamped between the first blade member 10 and the second blade member 20.

[0016] In this embodiment, the shaft member 2 is inserted into the first through hole 12 formed in the first blade member 10 and the second through hole 22 formed in the second blade member 20. That is, in this embodiment, the first blade member 10 and the second blade member 20 overlap in a direction parallel to the X direction in at least a portion including the first through hole 12 and the second through hole 22.

[0017] Referring to Figures 3 and 4, the configurations of the first main body 11 and the second main body 21 will be described. The first main body 11 includes a first region 13 and a second region 14. The second main body 21 is composed of a third region 23 and a fourth region 24. The first region 13 and the second region 14 are aligned in the X direction. The third region 23 and the fourth region 24 are arranged aligned in the X direction. The first region 13 and the third region 23 are arranged facing each other in the rotational direction and constitute a compression region that compresses the object 200. The second region 14 and the fourth region 24 are arranged facing each other in the rotational direction and constitute a cutting region that cuts the object 200.

[0018] The first region 13 includes one or more first protrusions 15, one or more first recesses 16, and one or more first connecting portions 17. The first region 13 of the clamping device 1 of this embodiment includes three first protrusions 15, four first recesses 16, and six first connecting portions 17. The first protrusions 15 and first recesses 16 are arranged alternately in the X direction. The first protrusions 15 are formed projecting toward the third region 23. The first recesses 16 are formed recessed in a direction away from the third region 23. The first connecting portions 17 constitute a wall surface connecting the first protrusions 15 and the first recesses 16.

[0019] The third region 23 includes one or more second protrusions 25, one or more second recesses 26, and one or more second connecting portions 27. The third region 23 of the clamping device 1 in this embodiment includes four second protrusions 25 and three second recesses 26. The number of second protrusions 25 matches the number of first recesses 16. The number of second recesses 26 matches the number of first protrusions 15. The second protrusions 25 and second recesses 26 are arranged alternately in the X direction. The second protrusions 25 are formed to protrude toward the first region 13. The second recesses 26 are formed to be recessed away from the first region 13. The second connecting portion 27 constitutes a wall surface connecting the second protrusions 25 and the second recesses 26.

[0020] The first region 13 and the third region 23 are formed such that their concave and concave shapes fit together when they are close to each other. The first convex portion 15 is formed in the region that extends the second concave portion 26 in the rotational direction. The first concave portion 16 is formed in the region that extends the second concave portion 26 in the rotational direction. That is, when the first blade member 10 and the second blade member 20 rotate around the rotation axis Ax and move closer to each other, the first convex portion 15 moves closer to the second concave portion 26, and the first concave portion 16 moves closer to the second convex portion 25.

[0021] In this embodiment, the first protrusion 15, the first recess 16, the second protrusion 25, and the second recess 26 are each formed in a planar shape having a width in the X direction. Furthermore, the first protrusion 15 and the second recess 26, and the first recess 16 and the second protrusion 25, each form a plane parallel to each other. More specifically, the first protrusion 15, the first recess 16, the second protrusion 25, and the second recess 26 form a plane that is generally perpendicular to the direction of rotation. In addition, a pair of first connecting parts 17 and second connecting parts 27 facing each other in the direction of rotation form a parallel plane. In this embodiment, the first connecting part 17 and the second connecting part 27 form a plane that is inclined with respect to the direction of rotation.

[0022] The shape is not limited to that of this embodiment described above, as long as the first protrusion 15 and the second recess 26, and the first recess 16 and the second protrusion 25, are each able to fit together. In other embodiments, the first protrusion 15, the first recess 16, the second protrusion 25, and the second recess 26 may be formed in a curved shape that is convex upwards or downwards on the plane of the paper in Figure 3, for example.

[0023] At least one of the second region 14 and the fourth region 24 has a blade portion that protrudes more sharply than the first protrusion 15 and the second protrusion 25 from one of the second region 14 and the fourth region 24 toward the other. In the clamping device 1 of this embodiment, the second region 14 has a first blade portion 18 as a blade portion, and the fourth region 24 has a second blade portion 28 as a blade portion.

[0024] The first blade portion 18 is formed projecting from the second region 14 toward the fourth region 24 in the rotational direction, and has a first tip portion 181 and a first cutting surface 182. The first tip portion 181 is the part of the first blade portion 18 that protrudes furthest toward the fourth region 24. The first tip portion 181 is formed in a linear shape with no substantial width dimension in the X direction. The first cutting surface 182 is a surface formed on both sides of the first tip portion 181 in the X direction. At least the portion of the first cutting surface 182 closer to the first tip portion 181 forms a smooth surface. The first cutting surface 182 is inclined with respect to the rotational direction. In this embodiment, the inclination angle of the first cutting surface 182 with respect to the rotational direction is acute.

[0025] The second cutting edge 28 is formed projecting from the fourth region 24 toward the second region 14 in the rotational direction, and has a second tip portion 281 and a second cutting surface 282. The second tip portion 281 is the part of the second cutting edge 28 that protrudes furthest toward the second region 14. The second tip portion 281 is formed in a linear shape with no substantial width dimension in the X direction. The second cutting surface 282 is a surface formed on both sides of the second tip portion 281 in the X direction. At least the portion of the second cutting surface 282 closer to the second tip portion 281 forms a smooth surface. The second cutting surface 282 is inclined with respect to the rotational direction. In this embodiment, the inclination angle of the second cutting surface 282 with respect to the rotational direction is acute.

[0026] The trajectory of the blade portion of one of the second region 14 and the fourth region 24 around the rotation axis Ax is in contact with the other of the second region 14 and the fourth region 24. In this embodiment, the trajectory of the first tip portion 181 is in contact with the second tip portion 281. That is, as shown in Figure 4, when the first blade member 10 and the second blade member 20 rotate around the rotation axis Ax and approach each other, the first tip portion 181 comes into contact with the second tip portion 281. When the first blade member 10 and the second blade member 20 rotate and approach each other with the object 200 sandwiched between the first body portion 11 and the second body portion 21, the object 200 is sandwiched between the sharp first tip portion 181 and the second tip portion 281 and cut.

[0027] When the object 200 is sandwiched between the first main body 11 and the second main body 21, and the first blade member 10 and the second blade member 20 rotate and move closer to each other, the compression region formed by the first region 13 and the third region 23 contacts the object 200 at the same time as or before the cutting region formed by the second region 14 and the fourth region 24. Specifically, the first protrusion 15 and the second protrusion 25 contact the object 200 at the same time as or before the first tip portion 181 and the second tip portion 281 contact the object 200. In this embodiment, the first protrusion 15 and the second protrusion 25 contact the object 200 before the first tip portion 181 and the second tip portion 281 contact the object 200. Therefore, it is suppressed that the object 200 is cut by the cutting region before it is compressed by the compression region. The timing at which the compression region and the cutting region come into contact naturally depends on the shape of the object 200. The above timing is achieved when the object 200 extends in the X direction and has a uniform thickness in the R direction, as shown in Figure 5, etc.

[0028] As shown in Figure 3, the portion of the first region 13 that protrudes the most toward the second blade member 20 in the rotational direction, i.e., the first protrusion 15, is closer to the second blade member 20 than the portion of the second region 14 that protrudes the most toward the second blade member 20 in the rotational direction, i.e., the first tip portion 181. Also, the portion of the third region 23 that protrudes the most toward the first blade member 10 in the rotational direction, i.e., the second protrusion 25, is closer to the first blade member 10 than the portion of the fourth region 24 that protrudes the most toward the first blade member 10 in the rotational direction, i.e., the second tip portion 281.

[0029] As shown in FIG. 3, in an arbitrary state where the first region 13 and the third region 23 are separated, the rotational distance between the first convex portion 15 and the second convex portion 25 is set as the shortest separation distance a between the first region 13 and the third region 23. Also, the rotational distance between the first tip portion 181 and the second tip portion 281 in the same state is set as the shortest separation distance b between the second region 14 and the fourth region 24. In this case, the shortest separation distance a between the first region 13 and the third region 23 is less than or equal to the shortest separation distance b between the second region 14 and the fourth region 24. Expressing this as a mathematical formula, a ≤ b. In the present embodiment, the shortest separation distance a between the first region 13 and the third region 23 is less than the shortest separation distance b between the second region 14 and the fourth region 24, that is, a < b.

[0030] In other words, let a predetermined first position regarding the rotational direction of the first blade member 10 be L1. In this case, the protruding length from the first position L1 to the first convex portion 15 is the first protruding length c1, and the protruding length from the first position L1 to the first tip portion 181 is the second protruding length c2. In this case, the second protruding length c2 is less than or equal to the first protruding length c1. Expressing this as a mathematical formula, c2 ≤ c1. In the present embodiment, the second protruding length c2 is less than the first protruding length c1, that is, c2 < c1.

[0031] Let a predetermined second position regarding the rotational direction of the second blade member 20 be L2. In this case, the protruding length from the second position L2 to the second convex portion 25 is the third protruding length c3, and the protruding length from the second position L2 to the second tip portion 281 is the fourth protruding length c4. In this case, the fourth protruding length c4 is less than or equal to the third protruding length c3. Expressing this as a mathematical formula, c4 ≤ c3. In the present embodiment, the fourth protruding length c4 is less than the third protruding length c3, that is, c4 < c3. In the present embodiment, the first protruding length c1 and the third protruding length c3 are equal, and the second protruding length c2 and the fourth protruding length c4 are equal, but it is not limited to this. For example, in other embodiments, the first protruding length c1 and the third protruding length c3 may be different, or the second protruding length c2 and the fourth protruding length c4 may be different.

[0032] As the first blade member 10 and the second blade member 20 rotate and move closer to each other, the second region 14 and the fourth region 24 come into contact with each other before the first region 13 and the third region 23 come into contact with each other. If the first region 13 and the third region 23 come into contact before the first blade portion 18 and the second blade portion 28 come into contact and cut the object 200, the first blade portion 18 and the second blade portion 28 will not be able to get any closer, thus hindering cutting by the cutting region. In contrast, since the second region 14 and the fourth region 24 come into contact with each other before the first region 13 and the third region 23 come into contact with each other, cutting is not hindered and the cutting operation can be performed reliably.

[0033] As shown in Figure 3, in any state where the first region 13 and the third region 23 are separated, the rotational distance between the first convex portion 15 and the second concave portion 26 is defined as the first concave-convex separation distance e1 between the first region 13 and the third region 23. Also, the rotational distance between the second convex portion 25 and the first concave portion 16 is defined as the second concave-convex separation distance e2 between the first region 13 and the third region 23. In this case, the shortest separation distance b between the second region 14 and the fourth region 24 is less than the first concave-convex separation distance e1, and the shortest separation distance b between the second region 14 and the fourth region 24 is less than the second concave-convex separation distance e2. Expressed mathematically, these are b>e1 and b>e2. In this embodiment, the first concave-convex separation distance e1 and the second concave-convex separation distance e2 are equal, but in other embodiments, the first concave-convex separation distance e1 and the second concave-convex separation distance e2 may be different.

[0034] The width dimension d1 in the X direction of the first region 13 is set to be longer than the width dimension d2 of the second region 14. The width dimension d3 in the X direction of the third region 23 is set to be longer than the width dimension d4 of the fourth region 24. In other words, the width dimension in the X direction of the compression region is set to be longer than the width dimension of the cutting region. For example, the width dimension of the compression region in the X direction can be several times the width dimension of the cutting region in the X direction. This allows the object 200 to be compressed over a wide area, so that the object 200 can be crushed reliably. For example, in this embodiment, the width dimension d1 of the first region 13 and the width dimension d3 of the third region 23 are set to 30 mm each, and the width dimension d2 of the second region 14 and the width dimension d4 of the fourth region 24 are set to 10 mm each.

[0035] In this embodiment, since the first protrusion 15, the first recess 16, the second protrusion 25, and the second recess 26 are formed in a planar shape with width in the X direction, the pressing force is not concentrated in one place, and the object 200 can be compressed in a region with a predetermined width. Therefore, it becomes easy to compress the object 200 sandwiched between the first region 13 and the third region 23 without cutting it. Furthermore, if the object 200 is a pipe, it can be crushed in a region with width in the longitudinal direction of the pipe, thus making it possible to more reliably suppress liquid leakage. The width dimension in the X direction between the first protrusion 15 and the second protrusion 25 can be set to, for example, 1 mm or more.

[0036] Referring to Figures 5 to 8, the processing of the object 200 will be explained step by step. First, as shown in Figure 5, the object 200 is placed between the first blade member 10 and the second blade member 20 with them open. The object 200 is positioned so that it is elongated in the X direction.

[0037] Next, as shown in Figure 6, the first blade member 10 and the second blade member 20 are brought closer to each other by the drive device 4 or other external force. At this time, the first protrusion 15 and the second protrusion 25 make contact with the object 200 before the first tip portion 181 and the second tip portion 281. As the first blade member 10 and the second blade member 20 are brought even closer to each other, the object 200, sandwiched between the first protrusion 15 and the second protrusion 25, is compressed in the rotational direction.

[0038] As shown in Figure 7, when the first blade member 10 and the second blade member 20 are brought even closer to each other, the object 200 is gripped and cut in the rotational direction by the sharp first tip 181 and the second tip 281.

[0039] As shown in Figure 8, the object 200 is cut into part 200a and part 200b by the cutting region. In this case, if the object 200 is a used pipe, leakage of fluid remaining inside is suppressed, especially from the cut portion of part 200a which is crushed by the compression region. For example, if the object 200 is a brake fluid pipe connecting a vehicle and an ABS, crushing the side connected to the vehicle with the compression region can effectively suppress brake fluid leakage when the dismantled vehicle is moved.

[0040] The clamping device 1 of this embodiment, as described above, comprises a first blade member 10 and a second blade member 20 that are at relative distances from each other with respect to the first direction, which is the rotational direction. The first blade member 10 has a first region 13 and a second region 14 aligned in the second direction, which is the X direction, perpendicular to the first direction. The second blade member 20 has a third region 23 and a fourth region 24 aligned in the second direction. In the first direction, the first region 13 and the third region 23 face each other to form a compression region. In the first direction, the second region 14 and the fourth region 24 face each other to form a cutting region. The first region 13 has a first convex portion 15 that protrudes toward the third region 23 and a first concave portion 16 that is recessed away from the third region 23. The third region 23 has a second convex portion 25 that protrudes toward the first region 13 and faces the first concave portion 16 in the first direction, and a second concave portion 26 that recedes away from the first region 13 and faces the first convex portion 15 in the first direction. At least one of the second region 14 and the fourth region 24 has blade portions 18, 28 that protrude more sharply than the first convex portion 15 and the second convex portion 25 from one of the second region 14 and the fourth region 24 toward the other.

[0041] According to this, by bringing the first blade member 10 and the second blade member 20 relatively close together, the object 200 can be gripped. By bringing the first blade member 10 and the second blade member 20 relatively close together, the object 200 can be compressed and crushed by the first region 13 and the third region 23. By bringing the first blade member 10 and the second blade member 20 relatively close together, the object 200 can be cut by the second region 14 and the fourth region 24. In this way, with the gripping device 1 of the present invention, crushing and cutting operations are achieved in a single gripping operation. That is, a person or robot does not need to switch between a crushing tool for crushing and a cutting tool for cutting. As a result, the dismantling work is sped up. Furthermore, if the object 200 is a pipe, the pipe can be crushed by the first region 13 and the third region 23. At the same time, the pipe can be cut by the second region 14 and the fourth region 24. This helps to prevent liquid leakage from the pipes during cutting operations.

[0042] The clamping device 1 of this embodiment comprises a first blade member 10 and a second blade member 20 that rotate around a rotation axis Ax extending along the X direction, and are located at relative distances from each other in the direction of rotation around the rotation axis Ax. The first blade member 10 has a first main body portion 11 that extends in the Y direction, which is perpendicular to the X direction and the direction of rotation. The second blade member 20 has a second main body portion 21 that faces the first blade member 10 in the direction of rotation and extends in the Y direction. The first main body portion 11 has a first region 13 and a second region 14 aligned in the X direction. The second main body portion 21 has a third region 23 and a fourth region 24 aligned in the X direction. In the direction of rotation, the first region 13 and the third region 23 face each other to form a compression region. In the direction of rotation, the second region 14 and the fourth region 24 face each other to form a cutting region. The first region 13 has a first convex portion 15 that protrudes toward the third region 23 and a first concave portion 16 that is recessed away from the third region 23. The third region 23 has a second convex portion 25 that protrudes toward the first region 13 and faces the first concave portion 16 in the rotational direction, and a second concave portion 26 that is recessed away from the first region 13 and faces the first convex portion 15 in the rotational direction. At least one of the second region 14 and the fourth region 24 has a first blade portion 18 and a second blade portion 28 that protrude more sharply than the first convex portion 15 and the second convex portion 25 from one of the second region 14 and the fourth region 24 toward the other.

[0043] According to this, by rotating the first blade member 10 and the second blade member 20 and bringing them closer in the rotational direction, the object 200 can be gripped. By rotating the first blade member 10 and the second blade member 20 and bringing them closer in the rotational direction, the object 200 can be compressed and crushed by the first region 13 and the third region 23. By rotating the first blade member 10 and the second blade member 20 and bringing them closer in the rotational direction, the object 200 can be cut by the second region 14 and the fourth region 24. In this way, with the gripping device 1 of the present invention, crushing and cutting operations are achieved by a single rotational gripping motion. That is, a person or robot does not need to switch between a crushing tool for crushing and a cutting tool for cutting. As a result, the dismantling work is sped up. Furthermore, if the object 200 is a pipe, the pipe can be crushed by the first region 13 and the third region 23. In addition, the pipe can be cut by the second region 14 and the fourth region 24. This suppresses liquid leakage from the pipe during the cutting operation.

[0044] In a state where the first region 13 and the third region 23 are separated in the first direction, and the second region 14 and the fourth region 24 are separated, the shortest separation distance a between the first region 13 and the third region 23 in the first direction is set to be less than or equal to the shortest separation distance b between the second region 14 and the fourth region 24 in the first direction.

[0045] In this embodiment, in a state where the first region 13 and the third region 23 are separated in the first direction of rotation, and the second region 14 and the fourth region 24 are separated, the shortest separation distance a between the first region 13 and the third region 23 in the direction of rotation is set to be less than or equal to the shortest separation distance b between the second region 14 and the fourth region 24 in the direction of rotation.

[0046] This allows the first region 13 and the third region 23 to begin crushing the object at the same time as or before the second region 14 and the fourth region 24 begin cutting the object. Therefore, it is possible to suppress liquid leakage from the cut surface, especially when the object 200 is a pipe or the like.

[0047] The shortest separation distance a between the first region 13 and the third region 23 in the first direction is the shortest distance in the rotational direction between the first protrusion 15 and the second protrusion 25. The trajectories of the blades of one of the second region 14 and the fourth region 24, namely the first blade 18 and the second blade 28, along the first direction, are in contact with a part of the other of the second region 14 and the fourth region 24.

[0048] In this embodiment, the shortest separation distance a in the rotational direction, which is the first direction between the first region 13 and the third region 23, is the shortest distance in the rotational direction between the first protrusion 15 and the second protrusion 25. The trajectories of the blades of one of the second region 14 and the fourth region 24, namely the first blade 18 and the second blade 28, around the rotation axis Ax, are in contact with a part of the other of the second region 14 and the fourth region 24.

[0049] As a result, the first protrusion 15 and the second protrusion 25 can begin crushing the object at the same time as or before the first blade portion 18 and / or the second blade portion 28 begin cutting the object. Therefore, in particular when the object 200 is a pipe or the like, liquid leakage from the cut surface can be suppressed.

[0050] The shortest separation distance b in the first direction between the second region 14 and the fourth region 24 is less than the first concave-convex separation distance e1, which is the distance in the first direction between the first convex portion 15 and the second concave portion 26, and the second concave-convex separation distance e2, which is the distance in the first direction between the first concave portion 16 and the second convex portion 25.

[0051] In this embodiment, the shortest separation distance b in the rotational direction, which is the first direction between the second region 14 and the fourth region 24, is less than the first concave-concave separation distance e1, which is the distance in the rotational direction between the first convex portion 15 and the second concave portion 26, and the second concave-concave separation distance e2, which is the distance in the rotational direction between the first concave portion 16 and the second convex portion 25.

[0052] In other words, the first region 13 and the third region 23 will not come into contact before the second region 14 and the fourth region 24 come into contact. This prevents interference between the first region 13 and the third region 23 before the first blade portion 18 and / or the second blade portion 28 cut the object 200, thereby preventing the first blade member 10 and the second blade member 20 from approaching each other as necessary for cutting. In this embodiment, the approach between the first blade portion 18 and the second blade portion 28 is prevented from being hindered by contact between the first convex portion 15 and the second concave portion 26 or the second convex portion 25 and the first concave portion 16.

[0053] The first blade member 10 has a plurality of first protrusions 15, and the second blade member 20 has a plurality of second protrusions 25.

[0054] According to this method, the object 200 can be compressed at multiple points with a single clamping motion, thus ensuring that the object 200 is crushed over a wide area. In particular, when the object 200 is a pipe, liquid leakage can be effectively suppressed.

[0055] The width dimension d1 in the X direction, which is the second direction of the first region 13, is longer than the width dimension d2 in the X direction of the second region 14. The width dimension d3 in the X direction of the third region 23 is longer than the width dimension d4 in the X direction of the fourth region 24.

[0056] According to this method, the object 200 can be crushed more reliably by using a compression area that is wider than the cutting area. In particular, if the object 200 is a pipe, liquid leakage can be effectively suppressed.

[0057] The first blade member 10 and the second blade member 20 rotate around a rotation axis Ax that extends along the second direction, the X direction, thereby moving closer to each other in the direction of rotation around the rotation axis Ax. The direction of rotation coincides with the first direction.

[0058] According to this method, compression and cutting can be performed efficiently using circular motion.

[0059] The clamping end effector 100 of this embodiment is mounted on the tip of a robot arm. The clamping end effector 100 comprises a first blade member 10 and a second blade member 20 that are moved toward and away from each other in the first direction, the rotational direction, when driven by a drive device 4. The first blade member 10 has a first region 13 and a second region 14 aligned in the second direction, the X direction, which is perpendicular to the rotational direction. The second main body 21 has a third region 23 and a fourth region 24 aligned in the X direction. In the first direction, the first region 13 and the third region 23 face each other to form a compression region. In the first direction, the second region 14 and the fourth region 24 face each other to form a cutting region. The first region 13 has a first convex portion 15 that protrudes toward the third region 23 and a first concave portion 16 that is recessed away from the third region 23. The third region 23 has a second convex portion 25 that protrudes toward the first region 13 and faces the first concave portion 16 in the first direction, and a second concave portion 26 that recedes away from the first region 13 and faces the first convex portion 15 in the first direction. At least one of the second region 14 and the fourth region 24 has a first blade portion 18 and a second blade portion 28 that protrude more sharply than the first convex portion 15 and the second convex portion 25 from one of the second region 14 and the fourth region 24 toward the other.

[0060] According to this, by driving the robot to bring the first blade member 10 and the second blade member 20 relatively close together, the object 200 can be gripped. By bringing the first blade member 10 and the second blade member 20 relatively close together, the object 200 can be compressed and crushed by the first region 13 and the third region 23. By bringing the first blade member 10 and the second blade member 20 relatively close together, the object 200 can be cut by the second region 14 and the fourth region 24. In this way, with the gripping end effector 100 of the present invention, crushing and cutting operations can be achieved in a single gripping motion. That is, there is no need for the robot to switch between a crushing tool for crushing and a cutting tool for cutting, or to prepare a robot for crushing and a robot for cutting. As a result, the dismantling work is sped up. Furthermore, if the object 200 is a pipe, the pipe can be crushed by the first region 13 and the third region 23. In addition, the pipe can be cut by the second region 14 and the fourth region 24. This suppresses liquid leakage from the pipe during the cutting operation.

[0061] The gripping end effector 100 of this embodiment is mounted on the tip of a robot arm. The gripping end effector 100 comprises a shaft member 2 having a rotation axis Ax extending along the second direction, the X direction, and a first blade member 10 and a second blade member 20 that rotate around the rotation axis Ax under the drive of a drive device 4, and are at relative distances from each other in the rotation direction around the rotation axis Ax which coincides with the first direction. The first blade member 10 has a first body portion 11 extending in the Y direction, which is a third direction perpendicular to the X direction and the rotation direction. The second blade member 20 has a second body portion 21 that faces the first blade member 10 in the rotation direction and extends in the Y direction. The first body portion 11 has a first region 13 and a second region 14 aligned in the X direction. The second body portion 21 has a third region 23 and a fourth region 24 aligned in the X direction. The first region 13 and the third region 23 face each other in the rotation direction to form a compression region. In the rotational direction, the second region 14 and the fourth region 24 face each other to form a cutting region. The first region 13 has a first convex portion 15 that protrudes toward the third region 23 and a first concave portion 16 that is recessed away from the third region 23. The third region 23 has a second convex portion 25 that protrudes toward the first region 13 and faces the first concave portion 16 in the rotational direction, and a second concave portion 26 that is recessed away from the first region 13 and faces the first convex portion 15 in the rotational direction. At least one of the second region 14 and the fourth region 24 has a first blade portion 18 and a second blade portion 28 that protrude more sharply than the first convex portion 15 and the second convex portion 25 from one of the second region 14 and the fourth region 24 toward the other.

[0062] According to this design, the object 200 can be gripped by driving the robot to rotate the first blade member 10 and the second blade member 20 and bring them closer together in the rotational direction. The object 200 can be compressed and crushed by the first region 13 and the third region 23. The object 200 can be cut by the second region 14 and the fourth region 24. In this way, the gripping end effector 100 of this application achieves both crushing and cutting operations in a single gripping motion. That is, it is no longer necessary for the robot to switch between a crushing tool for crushing and a cutting tool for cutting, or to prepare separate robots for crushing and cutting. As a result, the dismantling work is sped up. Furthermore, if the object 200 is a pipe, the pipe can be crushed by the first region 13 and the third region 23. At the same time, the pipe can be cut by the second region 14 and the fourth region 24. This suppresses liquid leakage from the pipe during the cutting operation.

[0063] (Second Embodiment) A second embodiment will be described with reference to Figures 9 and 10. The clamping device 1 of this embodiment is equipped with a third blade portion 38 in the second region 14. The third blade portion 38 protrudes more sharply than the first convex portion 15 and the second convex portion 25.

[0064] As shown in Figure 9, the third cutting edge 38 is formed projecting from the second region 14 toward the fourth region 24 in the first direction, i.e., the rotational direction, and has a third tip 381 and a third cutting surface 382. The third tip 381 is the part of the third cutting edge 38 that protrudes the furthest toward the fourth region 24. The third tip 381 is formed in a linear shape with no substantial width dimension in the second direction, i.e., the X direction. The third cutting surface 382 is a surface formed on both sides of the third tip 381 in the X direction. At least the portion of the third cutting surface 382 closer to the third tip 381 forms a smooth surface. The third cutting surface 382 is inclined with respect to the first direction, i.e., the rotational direction. In this embodiment, the inclination angle of the third cutting surface 382 with respect to the rotational direction is acute.

[0065] The protruding length from the first position L1 to the third tip 381 is defined as the fifth protruding length c5. In this case, the fifth protruding length c5 is less than or equal to the first protruding length c1. This can be expressed mathematically as c5 ≤ c1. In this embodiment, the fifth protruding length c5 is less than the first protruding length c1, i.e., c5 <c1である。

[0066] In this embodiment, the trajectory of the third tip portion 381 contacts the second cutting surface 282, not the second tip portion 281. That is, as shown in Figure 10, when the first cutting member 10 and the second cutting member 20 rotate around the rotation axis Ax and approach each other, the third tip portion 381 contacts the second cutting surface 282. On the other hand, the trajectory of the second tip portion 281 contacts the third cutting surface 382, ​​not the third tip portion 381. That is, as shown in Figure 10, when the first cutting member 10 and the second cutting member 20 rotate around the rotation axis Ax and approach each other, the second tip portion 281 contacts the third cutting surface 382.

[0067] As the first blade member 10 and the second blade member 20 rotate and move closer to each other with the object 200 sandwiched between the first main body 11 and the second main body 21, the object 200 is sandwiched and cut between the sharp third tip 381 and the smooth second blade surface 282, and between the sharp second tip 281 and the smooth third blade surface 382.

[0068] The embodiment described above also achieves the same effects as the embodiment described above.

[0069] Furthermore, according to this embodiment, the clamping device 1 cuts the object 200 by clamping it between the sharp second tip portion 281 or third tip portion 381 and the third blade surface 382 or second blade surface 282 that forms an inclined surface. Therefore, the clamping device 1 can cut objects 200 of a wide range of dimensions by clamping the object 200 at any position in the Y direction.

[0070] (Third embodiment) A third embodiment will be described with reference to Figures 11 and 12. The clamping device 1 of this embodiment is provided with a fourth blade portion 48 in the second region 14 and a fifth blade portion 58 in the fourth region 24. At least one of the fourth blade portion 48 and the fifth blade portion 58 protrudes more sharply than the first convex portion 15 and the second convex portion 25. In this embodiment, the fourth blade portion 48 protrudes more sharply than the first convex portion 15 and the second convex portion 25.

[0071] As shown in Figure 11, the fourth cutting edge 48 is formed projecting from the second region 14 toward the fourth region 24 in the first direction, i.e., the rotational direction, and has a fourth tip 481, a fourth cutting surface 482, and an inclined surface 483. The fourth tip 481 is the part of the fourth cutting edge 48 that projects most towards the fourth region 24. The fourth tip 481 is formed in a linear shape with no substantial width dimension in the second direction, i.e., the X direction. The fourth cutting surface 482 is a surface formed on the side of the fourth tip 481 that is closer to the first region 13 with respect to the X direction. At least the portion of the fourth cutting surface 482 closer to the fourth tip 481 forms a smooth surface. The fourth cutting surface 482 forms a surface that is generally parallel to the rotational direction. The inclined surface 483 is a surface formed on the side of the fourth tip 481 that is away from the first region 13 with respect to the X direction. At least the portion of the inclined surface 483 closer to the fourth tip portion 481 forms a smooth surface. The inclined surface 483 forms a surface portion that is inclined with respect to the direction of rotation. In this embodiment, the angle of inclination of the inclined surface 483 with respect to the direction of rotation is acute.

[0072] The fifth cutting edge 58 is formed projecting from the fourth region 24 toward the second region 14 in the rotational direction, and has a fifth tip 581 and a fifth cutting surface 582. The fifth tip 581 is the portion of the fifth cutting edge 58 that protrudes most towards the fourth region 24. In this embodiment, the fifth tip 581 is formed at the corner of the second convex portion 25 on the fourth region 24 side. The fifth cutting surface 582 is a surface formed on the side of the fifth tip 581 away from the third region 23 with respect to the X direction. At least the portion of the fifth cutting surface 582 closer to the fifth tip 581 forms a smooth surface. The fifth cutting surface 582 forms a surface that is generally parallel to the rotational direction. That is, the interior angle between the second convex portion 25 and the fifth cutting surface 582 is set to approximately 90°.

[0073] The sixth protruding length c6, which is the protruding length of the fourth tip portion 481 from the first position L1, is set to be shorter than the first protruding length c1 of the first convex portion 15. Expressing this as a mathematical formula gives c6 < c1. On the other hand, as described above, since the fifth tip portion 581 is formed at the corner portion on the fourth region 24 side of the second convex portion 25, the seventh protruding length c7, which is the protruding length of the fifth tip portion 581 from the second position L2, is equal to the third protruding length c3, which is the protruding length of the second convex portion 25. In this case, the second convex portion 25 and the fifth tip portion 581 contact the object 200 simultaneously. However, since the fifth tip portion 581 is the tip of a corner portion formed at a substantially right angle, simply contacting the object 200 does not cut the object 200.

[0074] In the present embodiment, the trajectory of the fourth tip portion 481 contacts the fifth tip portion 581 and the fifth blade surface 582. That is, as shown in FIG. 12, when the first blade member 10 and the second blade member 20 rotate around the rotation axis Ax and approach each other, the fourth tip portion 481 first contacts the fifth tip portion 581. Further, when the first blade member 10 and the second blade member 20 approach each other, it contacts the fifth blade surface 582. On the other hand, the trajectory of the fifth tip portion 581 advances along the fourth tip portion 481 and the fourth blade surface 482. As shown in FIG. 7(B), when the first blade member 10 and the second blade member 20 rotate around the rotation axis Ax and approach each other, the fifth tip portion 581 first contacts the fourth tip portion 481. Further, when the first blade member 10 and the second blade member 20 approach each other, it advances along the fourth blade surface 482.

[0075] When the first blade member 10 and the second blade member 20 rotate and approach each other with the object 200 sandwiched between the first main body portion 11 and the second main body portion 21, the object 200 is sandwiched and cut between the sharp fourth tip portion 481 and the fifth tip portion 581 or the smooth fifth blade surface 582.

[0076] Also according to the present embodiment described above, the same effects as those of the above-described embodiments are achieved.

[0077] Furthermore, according to this embodiment, since the object 200 is sandwiched between the sharp fourth tip portion 481 and the fifth tip portion 581 or the smooth fifth blade surface 582 for cutting, a wide range of object dimensions can be cut by sandwiching the object 200 at any position in the Y direction.

[0078] (Fourth Embodiment) A fourth embodiment will be described with reference to Figures 13 and 14. The clamping device 1 of this embodiment comprises multiple, in this case two, first regions 13 and third regions 23, and one second region 14 and one fourth region 24, respectively. The first blade member 10 has the first region 13 on both sides of the second region 14 with respect to the second direction, i.e., the X direction. The second blade member 20 has the third region 23 on both sides of the fourth region 24 with respect to the X direction. That is, in the clamping device 1 of this embodiment, compression regions are formed on both sides of the cutting region. Therefore, the vicinity of both cut surfaces of the portions 200a and 200b cut by the cutting region is crushed.

[0079] In this case, the shape of the blade portion of the first blade member 10 may be any of the blade portion shapes in the above embodiments. The shape of the blade portion of the second blade member 20 may be any of the blade portion shapes in the above embodiments. In the example shown in Figure 13, the first blade member 10 has a first blade portion 18 in the second region 14, and the second blade member 20 has a second blade portion 28 in the fourth region 24. In the example shown in Figure 14, the first blade member 10 has a third blade portion 38 in the second region 14, and the second blade member 20 has a second blade portion 28 in the fourth region 24. In Figure 13, the dashed line indicates a state in which the first blade portion 18 and the second blade portion 28 are in contact and an object 200 (not shown) is cut. In Figure 14, the dashed line indicates a state in which the third blade portion 38 and the second blade portion 28 are in contact and an object 200 (not shown) is cut.

[0080] According to this embodiment, the first blade member 10 has two first regions 13. The two first regions 13 are aligned in the X direction via one second region 14. The second blade member 20 has two third regions 23. The two third regions 23 are aligned in the X direction via one fourth region 24.

[0081] According to this, the clamping device 1 can crush both sides of the cut surface of the object 200. Therefore, for example, when dismantling a vehicle, it is possible to crush not only the pipes extending from the vehicle side but also the pipes extending from the parts side. As a result, liquid leakage from the pipes can be suppressed even more effectively.

[0082] (Fifth embodiment) A fifth embodiment will be described with reference to Figure 15. The clamping device 1 can be applied not only to the end effector of a robot but also to a tool 300 used manually by a user. The tool 300 comprises the clamping device 1, a first axis member 5, a second axis member 6, and a handle portion 7. For example, in the tool 300 shown in Figure 9, when the user rotates the handle portion 7 around the rotation axis of the second axis member 6, the first blade member 10 and the second blade member 20 rotate around the rotation axis of the first axis member 5, causing the first main body portion 11 and the second main body portion 21 to move closer to and away from each other. The user can perform crushing and cutting operations at the same time by clamping the object 200 with the tool 300. The same effects as in each of the above embodiments can be achieved with such a tool 300.

[0083] (Sixth Embodiment) A sixth embodiment will be described with reference to Figure 16. The clamping end effector 100a of this embodiment includes a clamping device 1a, an end effector body 3a, and a drive device 4a. The clamping device 1a is the part that is driven by the drive device 4a to realize the function of the clamping end effector 100a. The end effector body 3a constitutes the outer shell of the clamping end effector 100a and supports the clamping device 1a and the drive device 4a. The end effector body 3a is connected to a robot arm (not shown). The drive device 4a receives power supply and control via the robot arm (not shown) to drive the clamping device 1a. The drive device 4a may be provided in the clamping end effector 100a or in the robot arm. In this embodiment, the drive device 4a is housed inside the end effector body 3a.

[0084] The clamping device 1a is composed of a third blade member 10a and a fourth blade member 20a that can move closer to or away from each other in the first direction, the Z direction in Figure 16. The third blade member 10a has a first main body portion 11 in the portion facing the fourth blade member 20a. The fourth blade member 20a has a second main body portion 21 in the portion facing the third blade member 10a. The Z direction is perpendicular to the Y direction, which is the direction in which the first main body portion 11 and the second main body portion 21 extend. The Z direction is also perpendicular to the X direction, which is the direction in which the first region 13 and the second region 14, and the third region 23 and the fourth region 24 are aligned.

[0085] As shown in Figure 16, in the clamping device 1a, the third blade member 10a and the fourth blade member 20a are closed when the first main body 11 and the second main body 21 move closer to each other in the Z direction, and open when the first main body 11 and the second main body 21 move further apart in the Z direction. In this embodiment, both the third blade member 10a and the fourth blade member 20a are configured to be movable in the Z direction.

[0086] The direction in which the first main body 11 and the second main body 21 face each other is perpendicular to the Y direction, which is aligned with the end effector body 3a, as is the direction of the third blade member 10a and the fourth blade member 20a.

[0087] The first main body portion 11 has the first region 13 and the second region 14 described in each of the above embodiments arranged in the X direction perpendicular to the Y and Z directions. The second main body portion 21 has the third region 23 and the fourth region 24 described in each of the above embodiments arranged in the X direction.

[0088] With the object 200 positioned between the first main body 11 and the second main body 21, the third blade member 10a and the fourth blade member 20a are brought close together, thereby simultaneously compressing and cutting the object. Unlike the embodiments described above, in this embodiment, the distance between the first main body 11 and the second main body 21 is constant along the Y direction. That is, at any position in the Y direction, the distance between the first main body 11 and the second main body 21, and consequently the distance between the first region 13 and the third region 23, and the distance between the second region 14 and the fourth region 24 are the same. Therefore, when compressing and cutting the object 200, the user does not need to adjust the position of the object 200 in the Y direction according to the dimensions of the object 200.

[0089] In this case, the drive unit 4a is configured to include, for example, a stepper motor. This enables precise position control between the first main body 11 and the second main body 21.

[0090] This embodiment also achieves the same effects as the embodiments described above.

[0091] In this embodiment, the clamping device 1a enables balanced compression and cutting of the object 200 by simultaneously moving the third blade member 10a and the fourth blade member 20a.

[0092] (Seventh Embodiment) A seventh embodiment will be described with reference to Figure 17. The clamping end effector 100a of this embodiment includes a clamping device 1a, an end effector body 3a, and a drive device 4a, similar to the sixth embodiment. In this embodiment, one of the third blade member 10a and the fourth blade member 20a is fixed in position, while the other moves toward or away from the other. In the example shown in Figure 17, the third blade member 10a is fixed in position in the Z direction relative to the end effector body 3, and the fourth blade member 20a can move toward or away from the third blade member 10a in the Z direction.

[0093] This embodiment also achieves the same effects as the embodiments described above.

[0094] In this embodiment, the clamping device 1a can stably exert compressive force by fixing the third blade member 10a and moving only the fourth blade member 20a. Furthermore, the number of moving parts is reduced, simplifying the mechanism. This also reduces manufacturing costs and makes maintenance easier, and allows for a lighter and smaller clamping end effector 100a.

[0095] (Eighth embodiment) An eighth embodiment will be described with reference to Figure 18. The clamping end effector 100b of this embodiment includes a clamping device 1b, an end effector body 3b, and a drive device 4b. The clamping device 1b is the part that is driven by the drive device 4b to realize the function of the clamping end effector 100b. The end effector body 3b constitutes the outer shell of the clamping end effector 100b and supports the clamping device 1b and the drive device 4b. The end effector body 3b is connected to a robot arm (not shown). The drive device 4b receives power supply and control via the robot arm (not shown) to drive the clamping device 1b. The drive device 4 may be provided in the clamping end effector 100b or in the robot arm. In this embodiment, the drive device 4b is housed inside the end effector body 3b.

[0096] As shown in Figure 18, the clamping device 1b is composed of a fifth blade member 10b and a sixth blade member 20b. The fifth blade member 10b has a first body portion 11. The sixth blade member 20b has a second body portion 21. The fifth blade member 10b and the sixth blade member 20b are configured to move closer to or further away from each other in the first direction, the Z direction. More specifically, the first body portion 11 and the second body portion 21 of the fifth blade member 10b and the sixth blade member 20b are configured to move closer to or further away from each other in the Z direction.

[0097] The fifth blade member 10b is generally L-shaped and has a base portion extending in the Z direction from the end effector body 3b and a portion extending in the Y direction from the tip of the base portion. The first body portion 11 is formed on the surface of the fifth blade member 10b that faces the end effector body 3b on the portion extending in the Y direction. The sixth blade member 20b is generally I-shaped and extends in the Z direction from the end effector body 3b. The second body portion 21 is formed on the surface of the sixth blade member 20b that faces away from the end effector body 3b and faces the first body portion 11.

[0098] The first main body portion 11 has the first region 13 and the second region 14 described in each of the above embodiments arranged in the X direction perpendicular to the Y and Z directions. The second main body portion 21 has the third region 23 and the fourth region 24 described in each of the above embodiments arranged in the X direction.

[0099] As shown in Figure 18, in the clamping device 1b, the fifth blade member 10b and the sixth blade member 20b are in a closed state when the first main body 11 and the second main body 21 move relative to each other in the Z direction, and in an open state when the first main body 11 and the second main body 21 move relative to each other in the Z direction. In this embodiment, the fifth blade member 10b is fixed in the Z direction, and only the sixth blade member 20b is configured to move in the Z direction.

[0100] The direction in which the first main body 11 and the second main body 21 face each other is along the Y direction, which is aligned with the end effector body 3b, as is the direction of the fifth blade member 10b and the sixth blade member 20b.

[0101] In this embodiment, the drive unit 4b moves the sixth blade member 20b by, for example, a hydraulic or pneumatic system. Using a hydraulic system allows for the generation of high torque, enabling smooth and stable operation. Using a pneumatic system makes it possible to realize a lightweight, simple, and environmentally friendly clamping end effector 100b.

[0102] This embodiment also achieves the same effects as the embodiments described above.

[0103] (Ninth Embodiment) A ninth embodiment will be described with reference to Figure 19. The gripping devices 1a and 1b can be applied not only to the end effector of a robot but also to tools 400 used manually by the user.

[0104] In the example shown in Figure 19, the tool 400 comprises a clamping device 1b, a handle portion 7b, and a hydraulic cylinder 8. For example, in the tool 400 shown in Figure 19, when the user operates the handle portion 7b, the hydraulic cylinder 8 generates power, causing the sixth blade member 20b to move in the Z direction. This causes the first main body portion 11 and the second main body portion 21 to move closer to each other. The user can perform crushing and cutting operations at the same time by clamping the object 200 with the tool 400. The same effects as those of the embodiments described above can be achieved with such a tool 400.

[0105] Furthermore, in each of the above embodiments, the first region 13 has three first protrusions 15 and four first recesses 16, and the third region 23 has four second protrusions 25 and three second recesses 26, but the number of each protrusion and each recess is not limited to these. In other embodiments, the number of each protrusion and each recess may be more or less than the number in each of the above embodiments. In this case, from the viewpoint of the leakage suppression effect, it is preferable that the number of each protrusion is two or more.

[0106] This disclosure is described in accordance with the embodiments, but it is understood that this disclosure is not limited to such embodiments or structures. This disclosure also includes various modifications and variations within the equivalence. In addition, various combinations and forms, as well as other combinations and forms that include only one, more, or fewer of those elements, fall within the scope and concept of this disclosure. [Explanation of Symbols]

[0107] 1, 1a, 1b…Clamping device, 2, 5…Shaft member, 10…First blade member, 10a…Third blade member, 10b…Fifth blade member, 11…First main body, 13…First region, 14…Second region, 15…First protrusion, 16…First recess, 18…First blade (blade part), 20…Second blade member, 20a…Fourth blade member, 20b…Sixth blade member, 21…Second main body, 23…Third region, 24…Fourth region, 25…Second protrusion, 26…Second recess, 28…Second blade (blade part), 100, 100a, 100b…Clamping end effector, Ax…Rotation axis

Claims

1. A clamping device (1) comprising a first blade member (10) and a second blade member (20) that are at relative distances from each other with respect to a first direction (R, Z), The first blade member has a first region (13) and a second region (14) aligned in a second direction (X) perpendicular to the first direction, The second cutting member has a third region (23) and a fourth region (24) aligned in the second direction, In the first direction, the first region and the third region face each other to form a compression region. In the first direction, the second region and the fourth region face each other to form a cutting region. The first region has a first convex portion (15) that protrudes toward the third region and a first concave portion (16) that is recessed away from the third region. The third region has a second convex portion (25) that protrudes toward the first region and faces the first recess in the first direction, and a second recess (26) that is recessed away from the first region and faces the first convex portion in the first direction. At least one of the second and fourth regions has a cutting edge (18, 28) that protrudes more sharply than the first and second protrusions from one of the second and fourth regions toward the other. Clamping device.

2. In a state where the first region and the third region are separated in the first direction, and the second region and the fourth region are separated, the shortest separation distance (a) between the first region and the third region in the first direction is less than or equal to the shortest separation distance (b) between the second region and the fourth region in the first direction. The clamping device according to claim 1.

3. The shortest separation distance (a) between the first region and the third region in the first direction is the shortest distance between the first protrusion and the second protrusion in the first direction. The trajectory of the blade portion in one of the second and fourth regions along the first direction is in contact with a part of the other of the second and fourth regions. The clamping device according to claim 2.

4. The shortest separation distance (b) in the first direction between the second region and the fourth region is less than the distance (e1) in the first direction between the first convex portion and the second concave portion, and the distance (e2) in the first direction between the first concave portion and the second convex portion. The clamping device according to claim 1.

5. The first blade member has a plurality of first protrusions, The second blade member has a plurality of the second protrusions, The clamping device according to claim 1.

6. The width dimension of the first region in the second direction is longer than the width dimension of the second region in the second direction. The width dimension of the third region in the second direction is longer than the width dimension of the fourth region in the second direction. The clamping device according to claim 1.

7. The first blade member has two first regions, The two first regions are aligned in the second direction via one second region. The second blade member has two of the third regions, The two third regions are aligned in the second direction via one fourth region. The clamping device according to claim 1.

8. The first blade member and the second blade member rotate about a rotation axis (Ax) extending along the second direction, thereby moving closer to and further away from each other in the direction of rotation around the rotation axis. The direction of rotation coincides with the first direction. The clamping device according to any one of claims 1 to 7.

9. A gripping end effector (100) that is attached to the tip of a robot arm, It comprises a first cutting edge member (10) and a second cutting edge member (20) that move toward and away from each other in a first direction (R, Z) in response to a drive device, The first blade member has a first region (13) and a second region (14) aligned in a second direction (X) perpendicular to the first direction, The second cutting member has a third region (23) and a fourth region (24) aligned in the second direction, In the first direction, the first region and the third region face each other and form a compression region. In the first direction, the second region and the fourth region face each other and form a cutting region. The first region has a first convex portion (15) that protrudes toward the third region and a first concave portion (16) that is recessed away from the third region. The third region has a second convex portion (25) that protrudes toward the first region and faces the first recess in the first direction, and a second recess (26) that is recessed away from the first region and faces the first convex portion in the first direction. At least one of the second and fourth regions has a cutting edge (18, 28) that protrudes more sharply than the first and second protrusions from one of the second and fourth regions toward the other. Clamping end effector.

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