Grippa

Abstract

To provide a gripper that can be constructed in a simple manner. [Solution] The device comprises a first screw shaft, a first nut screwed onto the first screw shaft and moving in the axial direction of the first screw shaft as the first screw shaft rotates, a second screw shaft that rotates integrally with the first screw shaft and has a screw facing the opposite direction to the screw of the first screw shaft, a second nut screwed onto the second screw shaft and moving in the axial direction of the second screw shaft as the second screw shaft rotates, a first movable member installed to be movable in the axial direction of the first screw shaft together with the first nut, and a second movable member and a third movable member installed to be movable together with the second nut, wherein the second nut and the second and third movable members are connected via a cam member, and the direction of movement of the second and third movable members intersects with the axial direction of the second screw shaft.

Description

Technical Field

[0001] The present invention relates to a gripper, and particularly to a gripper devised to have a simple configuration.

Background Art

[0002] As an example of a disclosure of a conventional gripper, there is Patent Document 1. The "clamp lamp having three jaws" (hereinafter referred to as the clamp) described in Patent Document 1 has three jaws that can move linearly in the radial direction, and the jaws are opened and closed to grip and release a workpiece.

[0003] The clamp described in Patent Document 1 has a thrust screw that is rotated by an electric motor, and the rotation of this thrust screw moves a to-slide. The to-slide supports a cursor, and the cursor is moved together with the to-slide. The cursor is coupled to the first jaw and is connected to the second and third jaws via transmission means.

[0004] There are two transmission levers in the above transmission means. The transmission lever is provided with a guide that acts as a cam, and pins that can move along this guide are connected to the second and third jaws. The transmission lever is rotatably installed and is rotated by a pin provided on the cursor.

[0005] When the first jaw moves inward, the inner end of the transmission lever is moved in the same direction as the first jaw, causing the transmission lever to rotate, and the outer end of the transmission lever is moved in the opposite direction to the movement direction of the inner end of the transmission lever. At this time, the second and third jaws are also moved toward the center by the pins guided by the transmission lever. By such an operation, the first, second, and third jaws are closed to grip the workpiece.

[0006] When the first jaw moves outward, the transmission lever is similarly rotated, causing the second and third jaws to also move outward. This action opens the first, second, and third jaws, releasing the gripped workpiece. [Prior art documents] [Patent Documents]

[0007] [Patent Document 1] Japanese Patent Publication No. 2014-672 [Overview of the project] [Problems that the invention aims to solve]

[0008] The above conventional configuration had the following problems: The "clamp lamp with three jaws" described in Patent Document 1 is complex because it has a configuration for changing the direction of movement of the second and third jaws relative to the first jaw, which moves in the same direction as the cursor.

[0009] The present invention is based on these points, and its objective is to provide a gripper that can be constructed in a simple manner. [Means for solving the problem]

[0010] To achieve the above objective, the gripper according to claim 1 of the present invention comprises: a first screw shaft; a first nut screwed onto the first screw shaft and moving in the axial direction of the first screw shaft as the first screw shaft rotates; a second screw shaft that rotates integrally with the first screw shaft and is provided with a screw facing the opposite direction to the screw of the first screw shaft; a second nut screwed onto the second screw shaft and moving in the axial direction of the second screw shaft as the second screw shaft rotates; a first movable member installed to be movable in the axial direction of the first screw shaft together with the first nut; and a second movable member and a third movable member installed to be movable together with the second nut, wherein the second nut, the second movable member and the third movable member are connected via a cam member, and the direction of movement of the second movable member and the third movable member intersects with the axial direction of the second screw shaft. Furthermore, the gripper according to claim 2 is characterized in that, in the gripper according to claim 1, finger members are connected to the first moving member, the second moving member, and the third moving member, and the finger members are held so as to be linearly movable by guide portions provided in the housing that covers the first nut and the second nut. Furthermore, the gripper according to claim 3 is characterized in that, in the gripper according to claim 2, the guide portion has rolling elements held so as to be rotatable between the finger member side and the housing side. Furthermore, the gripper according to claim 4 includes a first screw shaft, a first nut screwed onto the first screw shaft and moving in the axial direction of the first screw shaft as the first screw shaft rotates, a second screw shaft that rotates integrally with the first screw shaft and has a screw direction opposite to that of the first screw shaft, a second nut screwed onto the second screw shaft and moving in the axial direction of the second screw shaft as the second screw shaft rotates, a first movable member and a second movable member that are movably installed together with the first nut, and the above The device comprises a third movable member and a fourth movable member that are movably installed together with a second nut, wherein the first nut and the first and second movable members are connected via a first cam member, the second nut and the third and fourth movable members are connected via a second cam member, the direction of movement of the first and second movable members intersects with the axial direction of the first screw shaft, and the direction of movement of the third and fourth movable members intersects with the axial direction of the second screw shaft. [Effects of the Invention]

[0011] As described above, the gripper according to claim 1 of the present invention comprises a first screw shaft, a first nut screwed onto the first screw shaft and moving in the axial direction of the first screw shaft as the first screw shaft rotates, a second screw shaft that rotates integrally with the first screw shaft and has a screw facing the opposite direction to the screw of the first screw shaft, a second nut screwed onto the second screw shaft and moving in the axial direction of the second screw shaft as the second screw shaft rotates, a first movable member installed to be movable in the axial direction of the first screw shaft together with the first nut, and a second movable member and a third movable member installed to be movable together with the second nut, wherein the second nut and the second and third movable members are connected via a cam member, and the direction of movement of the second and third movable members intersects with the axial direction of the second screw shaft, so that a gripping operation by the three movable members can be performed with a simple configuration. Furthermore, according to the gripper of claim 2, in the gripper of claim 1, finger members are connected to the first moving member, the second moving member, and the third moving member, and the finger members are held so as to be able to move linearly by guide portions provided in the housing that covers the first nut and the second nut, so that smooth and reliable operation can be performed with a simple configuration. Furthermore, according to the gripper of claim 3, in the gripper described in claim 2, the guide portion has rolling elements held so as to be able to roll between the finger member side and the housing side, so that it can be operated smoothly with a simple configuration. Furthermore, according to claim 4, the gripper comprises a first screw shaft, a first nut screwed onto the first screw shaft and moving in the axial direction of the first screw shaft as the first screw shaft rotates, a second screw shaft that rotates integrally with the first screw shaft and has a screw direction opposite to that of the first screw shaft, a second nut screwed onto the second screw shaft and moving in the axial direction of the second screw shaft as the second screw shaft rotates, a first movable member and a second movable member that are movably installed together with the first nut, and the second movable member that moves together with the second nut The device comprises a third movable member and a fourth movable member that are movably installed, the first nut and the first and second movable members are connected via a first cam member, the second nut and the third and fourth movable members are connected via a second cam member, the direction of movement of the first and second movable members intersects with the axial direction of the first screw shaft, and the direction of movement of the third and fourth movable members intersects with the axial direction of the second screw shaft, so that a gripping operation can be performed by four movable members with a simple configuration. [Brief explanation of the drawing]

[0012] [Figure 1] This figure shows a first embodiment of the present invention, and is a perspective view of the gripper. [Figure 2] This figure shows a first embodiment of the present invention, and is an exploded perspective view of the gripper. [Figure 3]The figures show a first embodiment of the present invention, where Figure 3(a) is a perspective view of the finger drive screw shaft, the first nut and the second nut, Figure 3(b) is a perspective view of the first moving member, Figure 3(c) is a perspective view of the cam and Figure 3(d) is a perspective view of the second moving member or the third moving member. [Figure 4] Figure 4(a) shows an exploded perspective view of the first finger drive unit and the first nut, and Figure 4(b) shows a longitudinal cross-sectional view of the first finger drive unit and the first nut cut along the finger movement direction. [Figure 5] Figure 5(a) shows an exploded perspective view of the second finger drive unit or the third finger drive unit, and Figure 5(b) shows a longitudinal cross-sectional view of the second finger drive unit or the third finger drive unit cut along the finger movement direction. [Figure 6] Figure 6(a) shows a plan view of the gripper with each finger moved outwards in an open state, and Figure 6(b) shows a plan view of the gripper with each finger moved inwards in a closed state. [Figure 7] Figures illustrating the first embodiment of the present invention, where Figure 7(a) is a plan view of the gripper with the fingers and guide plate removed, showing the fingers in an open state with each finger moved outwards, and Figure 6(b) is a plan view of the gripper with the fingers and guide plate removed, showing the fingers in a closed state with each finger moved inwards. [Figure 8] Figures illustrating the first embodiment of the present invention, where Figure 8(a) is a plan view of the gripper with the intermediate cover removed from the state shown in Figure 7, showing the fingers moved outwards to open the gripper, and Figure 8(b) is a plan view of the gripper with the intermediate cover removed from the state shown in Figure 7, showing the fingers moved inwards to close the gripper. [Figure 9] This figure shows a second embodiment of the present invention, and is a perspective view of the gripper. [Figure 10] Figure 10(a) shows a plan view of the gripper with each finger moved outwards in an open state, and Figure 10(b) shows a plan view of the gripper with each finger moved inwards in a closed state. [Figure 11] A diagram illustrating the second embodiment of the present invention; FIG. 11(a) is a plan view from which the fingers and guide plates of the gripper are removed, showing the state where each finger is moved outward to open; FIG. 11(b) is a plan view from which the fingers and guide plates of the gripper are removed, showing the state where each finger is moved inward to close. [Figure 12] A diagram illustrating the second embodiment of the present invention; FIG. 12(a) is a plan view from which the intermediate cover is removed from the state shown in FIG. 11 of the gripper, showing the state where each finger is moved outward to open; FIG. 12(b) is a plan view from which the intermediate cover is removed from the state shown in FIG. 11 of the gripper, showing the state where each finger is moved inward to close.

Embodiments for Carrying Out the Invention

[0013] Hereinafter, the first embodiment of the present invention will be described while referring to FIGS. 1 to 8. As shown in FIG. 1, the gripper 1 according to this first embodiment has a housing 3. As shown in FIG. 2, the housing 3 includes a substantially cylindrical housing body 5, a bottom cover 7 that closes the opening on the bottom side (lower side in FIG. 2) of the housing body 5, a cam accommodating portion 9 in the shape of a container with a bottom installed on the upper side (upper side in FIG. 2) of the housing body 5, an intermediate cover 11 that closes the opening on the upper side (upper side in FIG. 2) of the cam accommodating portion 9, and guide plates 13, 15, 17 installed on the upper side (upper side in FIG. 2) of the intermediate cover 11.

[0014] A motor 21 is accommodated in the housing body 5. The motor 21 is attached via a motor bracket 23 to the lower side (lower side in FIG. 2) of the cam accommodating portion 9. Also, a finger drive screw shaft 25 is arranged inside the housing body 5 and above the motor 21 in FIG. 2. The finger drive screw shaft 25 is rotatably installed via support members 27, 29 installed on the lower side (lower side in FIG. 2) of the cam accommodating portion 9.

[0015] The finger drive screw shaft 25 described above is formed by integrating a first screw shaft 31 located on the right side in Figure 3 and a second screw shaft 33 located on the left side in Figure 3 into a single shaft. The male thread portion 35 of the first screw shaft 31 and the male thread portion 37 of the second screw shaft 33 are threads formed to face opposite directions. A timing pulley 41 is fixed to the end of the finger drive screw shaft 25, and a timing pulley 45 is also fixed to the output shaft 43 of the motor 21. A timing belt 47 is wound around the timing pulleys 41 and 45.

[0016] A first nut 51 is screwed onto the first screw shaft 31, and a second nut 53 is screwed onto the second screw shaft 33. The first nut 51 has a connecting portion 55 that extends upward in Figure 3 on its upper side, and the second nut 53 also has a connecting portion 57 that extends upward in Figure 3 on its upper side. Furthermore, it is conceivable that the female threads of the first nut 51 and the second nut 53 that are screwed onto the finger drive screw shaft 25 may be integrally formed, or that the female threads that are screwed onto the finger drive screw shaft 25 may be installed as separate components.

[0017] The first movable member 61 is connected to the first nut 51 via the connecting portion 55. The cam member 63 is connected to the second nut 53 via the connecting portion 57. As shown in Figure 3, the connecting portion 55 has a pin 62 protruding from the upper side in Figure 3. As shown in Figure 4(b), the upper end of the pin 62 in Figure 4(b) is inserted into the lower hole 64 of the first movable member 61 in Figure 4(b), and the bolt 65 is passed through the first movable member 61 and screwed into the female threaded portion 66 of the connecting portion 55, thereby connecting the first movable member 61 to the connecting portion 55. Furthermore, as shown in Figure 3, the connecting portion 57 also has a pin 67 that protrudes upward in Figure 3. The upper end of the pin 67 in Figure 3(a) is inserted into the hole 68 of the cam member 63 from the lower side in Figure 3(c), and the bolt 60 is passed through the cam member 63 from the upper side in Figure 3(c) and screwed into the female threaded portion 69 of the connecting portion 57, thereby connecting the cam member 63 to the connecting portion 57.

[0018] The cam member 63 is provided with a first cam groove 70 and a second cam groove 72. The first cam groove 70 extends from the central side of the cam member 63 to the front side (right side in Figure 3(c)) on one side in the width direction (lower left side in Figure 3(c)), and the second cam groove 72 extends from the central side of the cam member 63 to the front side (right side in Figure 3(c)) on the other side in the width direction (upper right side in Figure 3(c)).

[0019] The first movable member 61 and the cam member 63 are arranged within the cam housing 9. A slit 74 is formed at the bottom (lower side in Figure 2) of the cam housing 9, and the connecting portion 55 of the first nut 51 and the connecting portion 57 of the second nut 53 are arranged to pass through the slit 74. Furthermore, on both sides of the slit 74 within the cam housing 9 in the width direction (left-right direction in Figure 8), and below the cam member 63, sliding guide members 76, 76 for the cam member are installed on which the cam member 63 slides.

[0020] As shown in Figure 4(a), finger accommodating grooves 71 are provided in the guide plates 13, 15, and 17. Guide rails 73, 73 are installed on both sides of the finger accommodating groove 71 of the guide plate 13 in the width direction (from the upper left to the lower right in Figure 4(a)). In addition, a slit 75 is formed at the bottom of the finger accommodating groove 71 (the lower side in Figure 4(a)).

[0021] A first finger 81 is installed in the finger housing groove 71 of the guide plate 13 so as to be movable along the finger housing groove 71. Guide rails (not shown) are installed on both sides of the first finger 81 in the width direction (direction from the upper left to the lower right in Figure 4(a)), and a plurality of steel balls 84 are installed so as to be rotatable between the guide rails (not shown) of the first finger 81 and the guide rail 73 of the guide plate 13. With this configuration, the first finger 81 is movable along the finger housing groove 71 of the guide plate 13. As shown in Figure 4(b), the first finger 81 is fixed to the first movable member 61.

[0022] Guide plates 15 and 17 have the same configuration as guide plate 13. As shown in Figure 5, a second finger 83 is installed in the finger housing groove 71 of the guide plate 15 so as to be movable along the finger housing groove 71. The second finger 83 has the same configuration as the first finger 81. A second movable member 91 is fixed to the lower side of the second finger 83 in Figure 5(b). The second movable member 91 has a movable member body 93 connected to the second finger 83 and a cam follower 95 that protrudes from the lower side of the movable member body 93 in Figure 5(b).

[0023] Furthermore, a third finger 101 is movably mounted on the guide plate 17, similar to the guide plate 15. A third movable member 103 is fixed to the third finger 101, similar to the second finger 83. The third movable member 103 has the same configuration as the second movable member 91 and is provided with a cam follower 105. Furthermore, the first finger drive unit 106 is composed of the guide plate 13, the first finger 81, and the first moving member 61; the second finger drive unit 107 is composed of the guide plate 15, the second finger 83, and the second moving member 91; and the third finger drive unit 108 is composed of the guide plate 17, the third finger 101, and the third moving member 103.

[0024] As shown in Figure 6, when the guide plates 13, 15, and 17 are arranged as components of the housing 3, the finger accommodating grooves 71 of the guide plates 13, 15, and 17 are arranged radially at equal angles, so that the first finger 81, the second finger 83, and the third finger 101 move linearly in the radial direction.

[0025] As shown in Figures 7 and 8, the cam follower 95 of the second moving member 91 is positioned in the first cam groove 70 of the cam member 63, and the cam follower 105 of the third moving member 103 is positioned in the second cam groove 72 of the cam member 63. Furthermore, the intermediate cover 11 has radially extending slits 111, 113, and 115 formed therein, the first movable member 61 is positioned to pass through slit 111, the second movable member 91 is positioned to pass through slit 113, and the third movable member 103 is positioned to pass through slit 115.

[0026] When the finger drive screw shaft 25 is rotated in one direction, the first nut 51 and the second nut 53 are moved in a direction that brings them closer together. At this time, as shown in Figure 6(b), the first finger 81, the second finger 83, and the third finger 101 are moved inward, and the first finger 81, the second finger 83, and the third finger 101 are closed. In this state, an object (not shown) is grasped by the first finger 81, the second finger 83, and the third finger 101.

[0027] Furthermore, when the finger drive screw shaft 25 is rotated in the other direction, the first nut 51 and the second nut 53 are moved in a direction that separates them from each other. At this time, as shown in Figure 6(a), the first finger 81, the second finger 83, and the third finger 101 are moved to the outer circumference, and the first finger 81, the second finger 83, and the third finger 101 are in an open position. In this state, the grip of the object (not shown) by the first finger 81, the second finger 83, and the third finger 101 is released.

[0028] As described above, when the first finger 81, second finger 83, and third finger 101 are moved, the first finger 81 is moved in the same direction as the first nut 51 is moved by the first nut 51, but the second finger 83 and third finger 101 are moved in a direction intersecting the direction of movement of the second nut 53 via the cam followers 95 and 105 which are biased by the cam member 63 connected to the second nut 53, so that the first finger 81, second finger 83, and third finger 101 are moved radially.

[0029] Next, the operation according to this first embodiment will be described. The motor 21 rotates the finger drive screw shaft 25. When the finger drive screw shaft 25 is rotated in one direction, the male thread portion 35 of the first screw shaft 31 and the male thread portion 37 of the second screw shaft 33 are oriented in opposite directions, so the first nut 51 and the second nut 53 move in a direction that brings them closer together. The first moving member 61 and the first finger 81 move radially inward together with the first nut 51. The second finger 83 moves radially inward, guided by the guide plate 15, together with the second moving member 91 which is biased via a cam follower 95 by the first cam groove 70 of the cam member 63. The third finger 101 also moves radially inward, guided by the guide plate 17, together with the third moving member 103 which is biased via a cam follower 105 by the second cam groove 72 of the cam member 63.

[0030] At this time, the first finger 81, the second finger 83, and the third finger 101 are in a closed state, and an object (not shown) is grasped by the first finger 81, the second finger 83, and the third finger 101.

[0031] Furthermore, when the finger drive screw shaft 25 is rotated in the other direction, the first nut 51 and the second nut 53 are moved in a direction that separates them from each other. The first moving member 61 and the first finger 81 are moved radially outward together with the first nut 51. The second finger 83 is moved radially outward, guided by the guide plate 15, together with the second moving member 91, which is biased via a cam follower 95 by the first cam groove 70 of the cam member 63. The third finger 101 is also moved radially outward, guided by the guide plate 17, together with the third moving member 103, which is biased via a cam follower 105 by the second cam groove 72 of the cam member 63.

[0032] At this time, the first finger 81, the second finger 83, and the third finger 101 are in an open state, and the grip of the object (not shown) by the first finger 81, the second finger 83, and the third finger 101 is released.

[0033] Next, the effects of this first embodiment will be described. The finger drive screw shaft 25 has a first screw shaft 31 and a second screw shaft 33 arranged on the same axis. The male thread portion 35 of the first screw shaft 31 and the male thread portion 37 of the second screw shaft 33 are formed to face opposite directions. The first movable member 61 is moved by the first nut 51 screwed onto the first screw shaft 31, and the second movable member 91 and the third movable member 103 are moved radially in a direction intersecting the axial direction of the finger drive screw shaft 25 via a cam member 63 connected to the second nut 53 screwed onto the second screw shaft 33. Thus, a simple configuration allows gripping operations to be performed by the first finger 81, the second finger 83, and the third finger 101.

[0034] The first finger 81 is connected to the first moving member 61, the second finger 83 to the second moving member 91, and the third finger 101 to the third moving member 103. The first finger 81, the second finger 83, and the third finger 101 are guided by the guide plates 13, 15, and 17 of the housing 3, allowing for smooth and reliable operation with a simple configuration. Furthermore, since steel balls 84 are installed to roll between the guide rails (not shown) of the first finger 81, the second finger 83, and the third finger 101 and the guide rails 73 of the guide plates 13, 15, and 17, smooth operation can be achieved with a simple configuration.

[0035] A second embodiment of the present invention will be described below with reference to Figures 9 to 12. The gripper 201 according to this second embodiment has substantially the same configuration as the gripper 1 according to the first embodiment described above, but includes a first finger drive unit 202, a second finger drive unit 204, a third finger drive unit 206, and a fourth finger drive unit 208. The first finger drive unit 202 has a first finger 203, the second finger drive unit 204 has a second finger 205, the third finger drive unit 206 has a third finger 207, and the fourth finger drive unit 208 has a fourth finger 209. The first finger 203, second finger 205, third finger 207, and fourth finger 209 described above have the same configuration as the first finger 81 in the first embodiment described above.

[0036] The gripper 201 has a housing 210, as shown in Figures 9 and 10. The housing 210 has a configuration substantially similar to the housing 3 in the first embodiment described above, but an intermediate cover 211 is installed. The intermediate cover 211 has a configuration substantially similar to the intermediate cover 11 in the first embodiment described above, but radially extended slits 212, 213, 214, and 215 are formed therein.

[0037] Furthermore, the housing 210 has guide plates 216, 217, 218, and 219. The guide plates 216, 217, 218, and 219 have the same configuration as the guide plate 13 in the first embodiment described above. The guide plates 216, 217, 218, and 219 guide the first finger 203, the second finger 205, the third finger 207, and the fourth finger 209 so that they move radially. Furthermore, the guide plate 216 is part of the first finger drive unit 202, the guide plate 217 is part of the second finger drive unit 204, the guide plate 218 is part of the third finger drive unit 206, and the guide plate 219 is part of the fourth finger drive unit 208.

[0038] The first finger 203, second finger 205, third finger 207, and fourth finger 209 are moved inward towards the gripper 201 to grasp an object (not shown) with the first finger 203, second finger 205, third finger 207, and fourth finger 209, and the first finger 203, second finger 205, third finger 207, and fourth finger 209 are moved outward from the gripper 201 to release the grasp of the object (not shown).

[0039] As shown in Figures 11 and 12, in this second embodiment, the first cam member 221 is connected to the first nut 51, and the second cam member 223 is also connected to the second nut 53. The first cam member 221 and the second cam member 223 have the same configuration as the cam member 63 in the first embodiment described above, with the first cam member 221 being provided with a first cam groove 225 and a second cam groove 226, and the second cam member 223 being provided with a third cam groove 227 and a fourth cam groove 228. As shown in Figure 12, sliding guide members 76, 76 for cam members are installed on both sides of the slit 74 of the cam housing 9 in the width direction (left-right direction in Figure 12), below the first cam member 221 and below the second cam member 223, on which the first cam member 221 and the second cam member 223 slide.

[0040] The first finger 203 is connected to the first movable member 231, the second finger 205 is connected to the second movable member 232, the third finger 207 is connected to the third movable member 233, and the fourth finger 209 is connected to the fourth movable member 234. The first movable member 231 has the same configuration as the second movable member 91 in the first embodiment described above, and is provided with a cam follower 235. The second movable member 232, third movable member 233, and fourth movable member 234 also have the same configuration as the first movable member 231, with the second movable member 232 provided with a cam follower 236, the third movable member 233 provided with a cam follower 237, and the fourth movable member 234 provided with a cam follower 238. Furthermore, the first moving member 231 is part of the first finger drive unit 202, the second moving member 232 is part of the second finger drive unit 204, the third moving member 233 is part of the third finger drive unit 206, and the fourth moving member 234 is part of the fourth finger drive unit 208.

[0041] The cam follower 235 of the first moving member 231 is positioned within the first cam groove 225 of the first cam member 221, and the cam follower 236 of the second moving member 232 is positioned within the second cam groove 226 of the first cam member 221. Furthermore, the cam follower 237 of the third moving member 233 is positioned within the third cam groove 227 of the second cam member 223, and the cam follower 238 of the fourth moving member 234 is positioned within the fourth cam groove 228 of the second cam member 223. Furthermore, the first movable member 231 is positioned to pass through the slit 212 of the intermediate cover 211, the second movable member 232 is positioned to pass through the slit 213 of the intermediate cover 211, the third movable member 233 is positioned to pass through the slit 214 of the intermediate cover 211, and the fourth movable member 234 is positioned to pass through the slit 215 of the intermediate cover 211.

[0042] In this second embodiment, the first finger 203 and the second finger 205 are moved by the first cam member 221 in a direction intersecting the direction of movement of the first nut 51, the third finger 207 and the fourth finger 209 are moved by the second cam member 223 in a direction intersecting the direction of movement of the second nut 53, and the first finger 203, the second finger 205, the third finger 207, and the fourth finger 209 are moved radially.

[0043] In this second embodiment, gripping can be performed with a simple configuration using the first finger 203, second finger 205, third finger 207, and fourth finger 209, which move radially and open and close. In addition, components common to this second embodiment and the first embodiment described above are denoted by the same reference numerals, and their descriptions are omitted.

[0044] It should be noted that the present invention is not limited to the first or second embodiment described above. The number of moving parts and fingers, the shape of the fingers, etc., can vary considerably. In the first and second embodiments described above, a finger drive screw shaft was used in which the first screw shaft and the second screw shaft were integrated into a single component. However, it is also conceivable to use a finger drive screw shaft in which the first screw shaft and the second screw shaft are separate components connected by a coupling. In addition to using parallel pins for the cam follower, it is also conceivable to form it as a part integrally with the moving member. In the first and second embodiments described above, the object was grasped with the multiple fingers closed. However, it is also conceivable that the multiple fingers be inserted into the object with the fingers closed, and then opened to grasp the object. Furthermore, the illustrated configuration is just one example, and various other configurations are possible. [Industrial applicability]

[0045] The present invention relates to a gripper, and more particularly to one designed to have a simple configuration, and is suitable, for example, for use in industrial robots. [Explanation of Symbols]

[0046] 1 Grippa 3 Housing 11. Intermediate cover (a component related to the connection of the second nut, the second movable member, and the third movable member by a cam member) 13 Guide plate (guide part) 15 Guide plate (guide part) 17 Guide plate (guide section) 25 Finger drive screw shaft (a member provided with a first screw shaft and a second screw shaft) 31 First screw shaft 35 Male threaded section 33. Second screw shaft 37 Male threaded section 51 First Nut 53 Second nut 55 Connecting part (a component relating to the connection between the first nut and the first movable member) 57. Connecting part (a component related to the connection between the cam member and the second nut) 60 bolts (components related to the connection between the cam member and the second nut) 61 First movable member 62 Pin (a component related to the connection between the first movable member and the first nut) 63 Cam component 64 holes (members related to the connection between the first movable member and the first nut) 65 Bolt (Member related to the connection between the first movable member and the first nut) 66 Female threaded portion (member related to the connection between the first movable member and the first nut) 67 Pin (a component related to the connection between the cam member and the second nut) 68 Holes (Metal components related to the connection between the cam member and the second nut) 69 Female thread portion (component related to the connection between the cam member and the second nut) 70. First cam groove (part related to the connection between the second nut and the second movable member by the cam member) 71 Finger housing groove (part of the guide section) 73 Guide rail (part of the guide section) 72. Second cam groove (part related to the connection between the second nut and the third movable member by the cam member) 74. Slit (part related to the connection between the cam member and the first nut) 75. Slit (part related to the connection between the moving member and the finger) 81 First Finger 83 Second Finger 84 Steel ball (rolling element) 91 Second movable member 95 Cam follower (a component related to the connection between the second nut and the second moving member by a cam member) 101 Third Finger 103 Third movable member 105 Cam follower (a component related to the connection between the second nut and the third movable member by a cam member) 111 Slit (part related to the connection between the first nut and the first movable member) 113 Slit (part related to the connection between the second nut and the second movable member by the cam member) 115 Slit (part related to the connection between the second nut and the third movable member by the cam member) 201 Grippa 203 First Finger 205 Second Finger 207 Third Finger 209 Fourth Finger 210 Housing 211 Intermediate cover (a member relating to the connection between the first nut and the second nut by the first cam member and the first movable member, the second movable member, the third movable member, and the fourth movable member) 212 Slit (part relating to the connection between the first nut and the first movable member by the first cam member) 213 Slit (part related to the connection between the first nut and the second movable member by the first cam member) 214 Slit (part related to the connection between the second nut and the third movable member by the second cam member) 215 Slit (part related to the connection between the second nut and the fourth movable member by the second cam member) 216 Guide plate (guide part) 217 Guide plate (guide section) 218 Guide plate (guide part) 219 Guide plate (guide part) 221 First cam member 223 Second cam member 225 First cam groove (part relating to the connection between the first nut and the first movable member by the first cam member) 226 Second cam groove (part related to the connection between the first nut and the second movable member by the first cam member) 227 Third cam groove (part relating to the connection between the second nut and the third movable member by the second cam member) 228. Fourth cam groove (part related to the connection between the second nut and the fourth movable member by the second cam member) 231 First movable member 232 Second movable member 233 Third movable member 234 Fourth movable member 235 Cam follower (a component relating to the connection between the first nut and the first movable member by the first cam member) 236 Cam follower (a component relating to the connection between the first nut and the second movable member by the first cam member) 237 Cam follower (a component relating to the connection between the second nut and the third movable member by the second cam member) 238 Cam follower (a component relating to the connection between the second nut and the fourth movable member by the second cam member)

Claims

1. First screw shaft and A first nut is screwed onto the first screw shaft and moves in the axial direction of the first screw shaft as the first screw shaft rotates, A second screw shaft rotates integrally with the first screw shaft and has a screw facing the opposite direction to the screw of the first screw shaft, A second nut is screwed onto the second screw shaft and moves in the axial direction of the second screw shaft as the second screw shaft rotates, A first movable member is installed together with the first nut so as to be movable in the axial direction of the first screw shaft, A second movable member and a third movable member are installed to be movable together with the second nut described above, It is equipped with, The second nut, the second movable member, and the third movable member are connected via a cam member. A gripper characterized in that the movement directions of the second and third moving members intersect with the axial direction of the second screw shaft.

2. In the gripper according to claim 1, Finger members are connected to the first moving member, the second moving member, and the third moving member. The gripper is characterized in that the above-mentioned finger member is held so as to be able to move linearly by a guide portion provided in the housing that covers the first nut and the second nut.

3. In the gripper according to claim 2, The gripper is characterized in that the guide portion has rolling elements held in a rotatable manner between the finger member side and the housing side.

4. First screw shaft and A first nut is screwed onto the first screw shaft and moves in the axial direction of the first screw shaft as the first screw shaft rotates, Rotates integrally with the first screw shaft, and has a second screw shaft with the screw direction opposite to that of the first screw shaft, A second nut is screwed onto the second screw shaft and moves in the axial direction of the second screw shaft as the second screw shaft rotates, A first movable member and a second movable member are installed to be movable together with the first nut described above, A third movable member and a fourth movable member are installed to be movable together with the second nut mentioned above, It is equipped with, The first nut and the first and second movable members are connected via the first cam member. The second nut and the third and fourth movable members are connected via the second cam member. The movement directions of the first moving member and the second moving member intersect with the axial direction of the first screw shaft. A gripper characterized in that the movement directions of the third and fourth moving members intersect with the axial direction of the second screw shaft.

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