Gripping system, Gripping method, Gripping device

Abstract

To provide a gripping system, a gripping device and a gripping method which can grip a body to be gripped without damaging the body to be gripped in a large-sided manipulator having a large output.SOLUTION: A gripping system, a gripping method and a gripping device have a first manipulator, a second manipulator, and a gripping device, wherein the first manipulator mounts the gripping device on a body to be gripped, and the second manipulator grips the body to be gripped through the gripping device mounted on the body to be gripped.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a gripping system, a gripping device, and a gripping method for gripping an object with a manipulator. [Background technology]

[0002] A robot that performs any task on a work object is controlled by a force control system so as not to damage the work object due to an excessive impact force generated when the robot comes into contact with the work object. For example, Patent Document 1 discloses a force control system in which a working means that performs any task on a work object is supported by a robot arm via a force detector. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 8-323668 Summary of the Invention [Problem to be solved by the invention]

[0004] Large manipulators generate a large output because the objects to be grasped are assumed to be large and heavy. Furthermore, the force detectors attached to the manipulators are designed to detect relatively large forces, so they cannot detect small forces and make it difficult to perform delicate work. For this reason, when a large manipulator is used to grasp an object to be grasped, excessive force may be applied, which may result in damage to the object to be grasped.

[0005] Therefore, an object of the present invention is to provide a gripping system, a gripping device, and a gripping method that are capable of gripping an object to be gripped without damaging it using a large manipulator with high output. [Means for solving the problem]

[0006] As a result of thorough investigation into the above-mentioned problems, the inventors discovered that by attaching a gripping device that functions as a "handle" to the object to be grasped by a first manipulator, and then gripping the gripping device with a second manipulator, it is possible to avoid direct contact between the second manipulator and the object to be grasped, thereby preventing damage to the object to be grasped, and thus completed the present invention. That is, the present invention relates to the following gripping system, gripping device, and gripping method.

[0007] To solve the above problems, the grasping system of the present invention is a grasping system having a first manipulator, a second manipulator, and a grasping device, wherein the first manipulator attaches the grasping device to a grasped object, and the second manipulator grasps the grasped object via the grasping device attached to the grasped object. According to this gripping system, a gripping device that functions as a "handle" is attached to the object to be gripped in advance by a first manipulator with low output, so that a second manipulator with high output can grip the object to be gripped via the gripping device attached to the object to be gripped without directly contacting the object to be gripped. This has the effect of preventing damage to the object to be gripped when a large manipulator with high output is used to grip the object to be gripped.

[0008] Furthermore, one embodiment of the gripping system of the present invention is characterized in that the gripping device has a fixing portion that is fixed to the object to be gripped, and the fixing portion is released when the gripping device and the first manipulator are connected. According to this gripping system, the gripping device is fixed to the object to be grasped except when the gripping device and the first manipulator are connected, so that the gripping device can be prevented from falling off the object to be grasped. Furthermore, when the second manipulator grasps the object to be grasped via the grasping device, the grasping device and the object to be grasped are fixed, so that the object can be grasped stably.

[0009] Furthermore, in one embodiment of the gripping system of the present invention, the gripping device comprises a first connectable part to which a first manipulator is connected and a second connectable part to which a second manipulator is connected, and the area of ​​the region where the second connectable part and the second manipulator are connected is larger than the area of ​​the region where the first connectable part and the first manipulator are connected. According to this gripping system, the second connected part connected to the second manipulator has greater rigidity than the first connected part connected to the first manipulator, so that when the second manipulator grips a heavier object to be gripped, damage to the second manipulator and the gripping device can be prevented.

[0010] The grasping method of the present invention for solving the above problems is a grasping method using a first manipulator, a second manipulator, and a grasping device, characterized in that it includes a step in which the first manipulator attaches the grasping device to an object to be grasped, and a step in which the second manipulator grasps the object to be grasped via the grasping device attached to the object to be grasped. According to this grasping method, a grasping device that functions as a "handle" is attached to the object to be grasped in advance by a first manipulator with low output, and the second manipulator with high output can grasp the object to be grasped via the grasping device attached to the object to be grasped without directly contacting the object to be grasped. This has the effect of preventing the object from being damaged when grasping the object to be grasped using a large manipulator with high output.

[0011] In order to solve the above problem, the gripping device of the present invention is a gripping device that is attached to a grasped body by a first manipulator having a fixing part that is fixed to the grasped body, and is characterized in that it has a fixing part that is fixed to the grasped body, and the fixing part is released when the first manipulator is connected. According to this gripping device, the gripping device is fixed to the object to be grasped except when the gripping device and the first manipulator are connected, so that the gripping device can be prevented from falling off the object to be grasped. Furthermore, when the second manipulator grasps the object to be grasped via the grasping device, the grasping device and the object to be grasped are fixed, so that the object can be grasped stably. Effect of the Invention

[0012] According to the present invention, it is possible to provide a gripping system, a gripping device, and a gripping method that are capable of gripping an object to be gripped without damaging it using a large manipulator with high output. [Brief description of the drawings]

[0013] [Figure 1] FIG. 1 is a schematic explanatory diagram showing a gripping system 100 according to a first embodiment of the present invention. [Diagram 2] 2A and 2B are explanatory cross-sectional views taken along the line AA in FIG. 1, showing the overall configuration of a gripping device 1A in a gripping system 100 according to a first embodiment of the present invention. [Diagram 3] FIG. 2 is an explanatory cross-sectional view taken along line AA in FIG. 1, showing a main body 10A (a hatched portion) of a gripping device 1A in a gripping system 100 according to a first embodiment of the present invention. [Figure 4] 2 is an explanatory cross-sectional view taken along line AA in FIG. 1, showing a holding unit 11A (a hatched portion) of a holding device 1A in a holding system 100 according to a first embodiment of the present invention. FIG. [Diagram 5] 2 is an explanatory cross-sectional view taken along line AA in FIG. 1, showing a coupled portion 13A (a hatched portion) of a gripping device 1A in a gripping system 100 according to a first embodiment of the present invention. FIG. [Figure 6] FIG. 1 is a schematic explanatory diagram showing a state in which a first manipulator 3A is coupled to a first coupled part 13A-2 of a gripping device 1A in a gripping system 100 according to a first embodiment of the present invention via a first coupling part 31A. [Figure 7] FIG. 1 is a schematic explanatory diagram showing a state in which a second manipulator 4A is coupled to a second coupled portion 13A-3 of a gripping device 1A in a gripping system 100 according to a first embodiment of the present invention via a second coupling portion 41A. [Figure 8] 2 is an explanatory cross-sectional view taken along line AA in FIG. 1, showing a fixing mechanism 14A (a hatched portion) of a gripping device 1A in a gripping system 100 according to a first embodiment of the present invention. FIG. [Figure 9] 2A and 2B are explanatory cross-sectional views taken along the line AA in FIG. 1, illustrating the operation of a fixing mechanism 14A (a hatched portion) of a gripping device 1A in a gripping system 100 according to a first embodiment of the present invention. [Figure 10] FIG. 2 is a schematic explanatory diagram showing a gripping system 200 according to a second embodiment of the present invention. [Figure 11] 10A and 10B are explanatory cross-sectional views taken along the line BB in FIG. 10, showing the overall configuration of a gripping device 1B in a gripping system 200 according to a second embodiment of the present invention. [Figure 12] 11 is an explanatory cross-sectional view taken along line BB in FIG. 10, showing a main body 10B (a hatched portion) of a gripping device 1B in a gripping system 200 according to a second embodiment of the present invention. FIG. [Figure 13] 11 is an explanatory cross-sectional view taken along line BB in FIG. 10, showing a holding portion 11B (a hatched portion) of a holding device 1B in a holding system 200 according to a second embodiment of the present invention. FIG. [Figure 14] FIG. 11 is an explanatory cross-sectional view taken along line BB in FIG. 10, showing a coupled portion 13B (a hatched portion) of a gripping device 1B in a gripping system 200 according to a second embodiment of the present invention. [Figure 15] FIG. 11 is a schematic explanatory diagram showing a state in which a first manipulator 3B is coupled to a first coupled part 13B-2 of a gripping device 1B via a first coupling part 31B in a gripping system 200 according to a second embodiment of the present invention. [Figure 16] FIG. 11 is a schematic explanatory diagram showing a state in which a second manipulator 4B is coupled to a second coupled portion 13B-3 of a gripping device 1B via a second coupling portion 41B in a gripping system 200 according to a second embodiment of the present invention. [Figure 17] 11 is an explanatory cross-sectional view taken along line BB in FIG. 10, showing a fixing mechanism 14B (a hatched portion) of a holding device 1B in a holding system 200 according to a second embodiment of the present invention. FIG. [Figure 18]10 showing the operation of a fixing mechanism 14B (a hatched portion) of a holding device 1B in a holding system 200 according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, embodiments of a gripping system and a gripping device according to the present invention will be described in detail. Also, a gripping method according to the present invention will be replaced with a description of the operation of the gripping system according to the present invention. It should be noted that the gripping system, gripping device, and gripping method described in the embodiments are merely examples provided to explain the gripping system, gripping device, and gripping method according to the present invention, and are not limited thereto.

[0015] The gripping system and gripping device according to the present invention are primarily intended to grip large, heavy-weight objects to be gripped using a large manipulator with high output without damaging them, and to perform tasks such as moving and installing them. Here, the object to be grasped according to the present invention is assumed to be large in volume and heavy. In this case, by having the manipulator grasp the object using the grasping device, which is a feature of the present invention, the object can be grasped reliably, thereby improving the safety and efficiency of the work. In addition, the object to be grasped according to the present invention is assumed to be large in volume and weight and fragile. In this case, by having the manipulator grasp the object via the grasping device that is a feature of the present invention, the manipulator can grasp the object without touching it, so that the fragile object to be grasped can be grasped without damaging it.

[0016] [First embodiment] A gripping system 100 according to a first embodiment of the present invention will be described with reference to Fig. 1. Fig. 1 is a schematic explanatory diagram showing the overall configuration of a gripping system 100 according to the first embodiment of the present invention.

[0017] As shown in FIG. 1, the grasping system 100 is composed of a grasping device 1A, a grasped object 2A, a first manipulator 3A, and a second manipulator 4A. The characteristics of the gripping system 100 can be roughly explained as follows: a gripping device 1A is attached to a gripped object 2A by a first manipulator 3A, and then a second manipulator 4A grips the gripped object 2A via the gripping device 1A. Each component will be explained in detail below.

[0018] <Gripped object> The object to be grasped 2A is grasped by a second manipulator 4A via a grasping device 1A. As shown in Fig. 1, the object to be held 2A has a held portion 21A. The size, weight, material, etc. of the object to be held 2A are not particularly limited, but a large and heavy object is preferable. The weight of the object to be held is not particularly limited, but is, for example, 300 kg or more, and preferably 500 kg or more. More preferably, the object to be grasped 2A is made of a heavy and fragile material. According to the grasping system of the present invention, the object to be grasped 2A is grasped by the manipulator via the grasping device 1A, so that the manipulator with a large output for grasping the heavy object to be grasped 2A does not directly grasp the object to be grasped 2A. Therefore, the object to be grasped 2A can be grasped safely without being damaged by an operating error of the manipulator.

[0019] The held part 21A is a part corresponding to the holding part 11A of the gripping device 1A, and holds the gripping device 1A by contacting with the holding part 11A. The held part 21A may be anything that can hold the gripping device 1A. For example, as shown in Fig. 1, it may be a hole into which the holding part 11A can be inserted, or a part that can be engaged with the holding part 11A of the gripping device 1A attached to the surface of the gripped object 2A.

[0020] <Gripping device> The grasping device 1A has a feature that, by being attached to the grasped object 2A, it functions as a so-called "handle" and can facilitate grasping of the grasped object 2A by the second manipulator 4A. In addition, by providing a fixing part 12A for fixing the state in which the grasping device 1A is held by the grasped object 2A, it has a feature that the grasped object 2A can be grasped stably by the second manipulator 4A.

[0021] The gripping device 1A is not particularly limited in material or size, but has a strength sufficient to function as a handle when the object to be gripped 2A is gripped by the second manipulator. Furthermore, the weight of the gripping device 1A is not particularly limited, but is smaller than the gripped object 2A, for example, 100 kg or less, preferably 50 kg or less, and more preferably 30 kg or less.

[0022] As shown in FIG. 2(A), the gripping device 1A in this embodiment includes a main body portion 10A that forms part of the outer shell of the gripping device 1A, a holding portion 11A that contacts the grasped object 2A and holds the gripping device 1A on the grasped object 2A, a fixing portion 12A that fixes the gripping device 1A held on the grasped object 2A, and a connecting portion 13A that is a portion to which the first manipulator 3A or the second manipulator 4A is connected. As shown in FIG. 2(B), the main body 10A, the holding portion 11A and the coupled portion 13A are provided therein with a fixing mechanism 14A (a hatched portion) which is a mechanism for operating the fixing portion 12A.

[0023] (Main body) As shown in Fig. 2(A), the main body 10A forms a part of the outer shell of the gripping device 1A and connects the holding part 11A and the coupled part 13A. As shown in Fig. 3, the main body 10A (the part shown by hatching) includes a main body casing 10A-1, a pressing tool A holding part 10A-2, a pressing tool B holding part 10A-3, and a fixing tool A 10A-4. The main body 10A also includes a part of a fixing mechanism 14A (described later) inside.

[0024] The main body casing 10A-1 forms the outer shell of the main body 10A and forms part of the outer shell of the gripping device 1A. The shape of the main body casing 10A-1 may be any shape to match the shape of the gripping device 1A. For example, as shown in Fig. 3, in order to form a cylindrical gripping device 1A, the shape of the main body casing 10A-1 may be a cylindrical flange shape. The main body casing 10A-1 may be made of any material. For example, it may be made of a metal such as iron or steel having high strength. In this case, even if the weight of the grasped object 2A is large or the output of the first manipulator 3A and the second manipulator 4A is large, the main body 10A does not break and the work can be performed safely. Even if the grasped object 2A is hot, the gripping device 1A does not melt and the work can be performed safely. In addition, it may be made of a polymer material such as reinforced plastic. In this case, the entire gripping device 1A can be made lightweight, so that the first manipulator 3A can be handled even if it is small and has low output. Furthermore, the material of the main body casing 10A-1 may be the same as or different from the holding part casing 11A-1 and the coupled part casing 13A-1 described later.

[0025] The pressing tool A holding part 10A-2 is a part that holds the pressing tool A14A-12, which is a component of the fixing mechanism 14A described later. The pressing tool A holding part 10A-2 may be of any type as long as it can hold the pressing tool A14A-12. For example, as shown in Fig. 3, a hole corresponding to the diameter of the pressing tool A14A-12 may be provided at a position where the pressing tool A14A-12 is held.

[0026] The pressing tool B holding part 10A-3 is a part that holds the pressing tool B 14A-13, which is a component of the fixing mechanism 14A described later. The pressing tool B holding part 10A-3 may be of any type as long as it can hold the pressing tool B 14A-13. For example, a surface that can correspond to the diameter of the pressing tool B 14A-13 may be provided at a corresponding position on the main body casing 10A-1.

[0027] The fastener A10A-4 is for connecting and fixing the main body 10A and the coupled part 13A. The fastener A10A-4 may be any type as long as it can connect and fix the main body 10A and the coupled part 13A. For example, a removable fastener such as a bolt as shown in FIG. 3 is preferable. The removable fastener allows the main body 10A and the coupled part 13A to be easily separated, facilitating maintenance such as repair and replacement.

[0028] (holding part) The holding part 11A is for holding the object 2A by contacting with a held part 21A of the object 2A, which will be described later, when the holding device 1A is attached to the object 2A. As shown in Fig. 4, the holding part 11A is provided with a holding part casing 11A-1, an insertion part 11A-2, and a fixing tool B 11A-3.

[0029] The holding part casing 11A-1 forms the outer shell of the holding part 11A and is a part that contacts the held part 21A (see FIG. 1) and holds the grasped object 2A. The shape of the holding part casing 11A-1 may be appropriately determined according to the shape of the held part 21A of the grasped object 2A. For example, as shown in FIG. 1, the holding part casing 11A-1 is cylindrical and the held part 21A is a hole corresponding to the shape of the cylindrical holding part casing 11A-1, so that the grasping device 1A can be held on the grasped object 2A. Moreover, the material of the holding part casing 11A-1 may be any material as long as it can safely hold the grasped object 2A. For example, it may be made of a metal such as iron or steel with high strength. In this case, even if the weight of the grasped object 2A is large or the output of the first manipulator 3A and the second manipulator 4A is large, the holding part 11A does not break and the work can be performed safely. Even if the grasped object 2A is at a high temperature, the gripping device 1A does not melt and the work can be performed safely. Furthermore, it may be made of a material softer than the material of the grasped object 2A. In this case, damage to the grasped object 2A caused by contact between the grasped object 2A and the gripping device 1A can be reduced. In addition, it may be made of a polymer material such as reinforced plastic. In this case, the entire gripping device 1A can be made lightweight, so that even if the first manipulator 3A is small and has low output, it can be handled. Furthermore, the material of the holding portion casing 11A-1 may be the same as or different from the material of the main body portion casing 10A-1 and the coupled portion casing 13A-1.

[0030] The insertion portion 11A-2, like the holding portion casing 11A-1, forms a part of the outer shell of the holding portion 11A, and is the first part that comes into contact when the gripping device 1A is inserted into the held portion 21A. As shown in FIG. 4, the insertion section 11A-2 includes a storage section 11A-21. The storage section 11A-21 is a space corresponding to the shape of the operating tool C14A-11, which is a component of the fixing mechanism 14A described later, and stores the tip portion of the operating tool C14A-11 within the insertion section 11A-2 in accordance with the operation of the operating tool C14A-11. The shape of the insertion part 11A-2 may be any shape, but it is preferable that the tip part has a tapered shape as shown in Fig. 4. In this case, the holding part 11A can be smoothly inserted into the held part 21A, which prevents damage to the held object 2A and the holding device 1A and improves work efficiency.

[0031] The fastener B11A-3 is for connecting and fixing the holding part 11A and the main body part 10A. The fastener B11A-3 may be any type as long as it can connect and fix the holding part 11A and the main body part 10A. For example, as shown in FIG. 4, a removable fastener such as a bolt is preferable. The removable fastener allows the holding part 11A and the main body part 10A to be easily separated, facilitating maintenance such as repair and replacement.

[0032] (Fixed part) The fixing part 12A fixes the state in which the gripping device 1A is held on the gripped object 2A. The structure, shape, material, etc. of the fixing part 12A may be of any type. For example, as shown in FIG. 4, a structure in which the gripping device 1A is engaged by a claw-shaped protrusion, or a fixing means using a magnet or an adhesive material may be used. The structure in which the gripping device is engaged by a claw-shaped protrusion makes it possible to easily switch between the gripping state and the release state.

[0033] Also, the fixing part 12A may be configured to release the fixation of the gripped object 2A held by the gripping device 1A only when the first manipulator 3A is coupled to the gripping device 1A. When the first manipulator 3A is not coupled, the gripping device 1A and the gripped object 2A are fixed, so that it is possible to prevent the gripping device 1A from falling off the gripped object 2A. Also, when the second manipulator 4A grips the gripped object 2A via the gripping device 1A, it is possible to stably grip the object. On the other hand, when the first manipulator 3A is coupled, the fixation is released, so that the gripping device 1A can be removed from the gripped object 2A by the first manipulator 3A.

[0034] The fixing mechanism 14A, which releases the gripping device 1A from the fixed state of holding the grasped object 2A only when the first manipulator 3A is coupled to the gripping device 1A, will be described later.

[0035] (Connected part) The joinable part 13A is a part where the first manipulator 3A or the second manipulator 4A is joined to the gripping device 1A. As shown in Fig. 5, the joinable part 13A includes a joinable part casing 13A-1, a first joinable part 13A-2, a second joinable part 13A-3, and a guide part 13A-4.

[0036] The joinable part casing 13A-1 forms the outer shell of the joinable part 13A and forms part of the outer shell of the gripping device 1 A. The shape of the joinable part casing 13A-1 is determined based on the shapes of the first joinable part 13A-2, the second joinable part 13A-3, and the guide part 13A-4, which will be described later. The material of the coupled part casing 13A-1 may be any material. For example, it may be made of a metal such as iron or steel having high strength. In this case, even if the weight of the grasped object 2A is large or the output of the first manipulator 3A and the second manipulator 4A is large, the main body part 10A does not break and the work can be performed safely and reliably. Even if the grasped object 2A is at a high temperature, the gripping device 1A does not melt and the work can be performed safely. In addition, it may be made of a polymer material such as reinforced plastic. In this case, the entire gripping device 1A can be made lightweight, so that even if the first manipulator 3A is small and has low output, it can be handled. Furthermore, the material of the coupled part casing 13A-1 may be the same as or different from the holding part casing 11A-1 and the main body casing 10A-1.

[0037] The first coupled portion 13A-2 is a part of the coupled portion casing 13A-1, where the first manipulator 3A and the gripping device 1A are coupled. As shown in Fig. 5, the first coupled part 13A-2 has a notched groove. As shown in Fig. 6, a first coupling part 31A of the first manipulator 3A (described later) is coupled to this groove via a first coupling device 31A-1. This couples the first coupled part 13A-2 to the first manipulator 3A. Moreover, the first joinable portion 13A-2 can be shaped so as to be joinable only to the first joining portion 31A of the first manipulator 3A, thereby making it possible to prevent the second manipulator 4A from being joined to the first joinable portion 13A-2 by mistake.

[0038] The second coupled portion 13A-3 is a part of the coupled portion casing 13A-1, and is a portion to which the second manipulator 4A and the gripping device 1A are coupled. As shown in Fig. 5, the second coupled part 13A-3 has a notched groove. As shown in Fig. 7, a second coupling part 41A of the second manipulator 4A (described later) is coupled to this groove via a second coupling device 41A-1. This couples the second coupled part 13A-3 and the second manipulator 4A.

[0039] It is preferable that the area of ​​the region where the second joinable portion 13A-3 and the second manipulator 4A are joined is larger than the area of ​​the region where the first joinable portion 13A-2 and the first manipulator 3A are joined. Here, the area where each coupled part and each manipulator are connected is a cross section of the coupled part of the second coupled part 13A-3 and the second coupling part 41A of the second manipulator 4A, and a cross section of the coupled part of the first coupled part 13A-2 and the first coupling part 31A of the first manipulator 3A (see Figs. 6 and 7 for the state where each coupled part and each manipulator are coupled). Note that when the second coupled part 13A-3 and the first coupled part 13A-2 are formed at multiple locations, it is the total area of ​​the coupled part and each manipulator's coupled area. For example, when the second joinable part 13A-3 and the first joinable part 13A-2 are cylindrical in shape, it is preferable that the diameter of the second joinable part 13A-3 is larger than the diameter of the first joinable part 13A-2. As a result, the second connected part that connects to the second manipulator has greater rigidity than the first connected part that connects to the first manipulator, thereby preventing damage to the second manipulator, the gripping device, etc. when the second manipulator grips a heavier object to be gripped.

[0040] The second joinable portion 13A-3 can be shaped so as to be joinable only with the second joining portion 41A of the second manipulator 4A, thereby making it possible to prevent the first manipulator 3A from being joined to the second joinable portion 13A-3 by mistake.

[0041] The structure of the first coupled part 13A-2 and the second coupled part 13A-3 may be any as long as they can couple the first manipulator 3A and the second manipulator 4A, respectively. It is also preferable to provide a recognition part that recognizes the coupling between the first coupled part 13A-2 or the second coupled part 13A-3 and the first coupling part 31A or the second coupling part 41A, respectively. Specific examples of the recognition part include, for example, a mode in which the first coupled part 13A-2 coupled to the first manipulator 3A and the second coupled part 13A-3 coupled to the second manipulator 4A have different shapes as in the first embodiment, and a mode in which they recognize each other by a permanent magnet or an electromagnet that can be switched on and off. When a permanent magnet or an electromagnet is used, it becomes possible to easily attach and detach the manipulator and the gripping device 1A. Furthermore, since there is no need to provide the coupled portion casing 13A-1 with a shape such as a groove corresponding to the first coupled portion 31A or the second coupled portion 41A, the shape of the structure can be simplified.

[0042] The guide portion 13A-4 functions as a guide when the first manipulator 3A or the second manipulator 4A grasps the gripping device 1A. In addition, by contacting the first coupling portion guided portion 31A-3 or the second coupling portion guided portion 41A-2, which will be described later, the coupled portion 13A and each manipulator can be coupled more firmly. For example, as shown in FIG. 6 or FIG. 7, when the first coupling portion 31A or the second coupling portion 41A is coupled to the coupled portion 13A, the guide portion 13A-4 is first inserted into the first coupling portion guided portion 31A-3 or the second coupling portion guided portion 41A-2, so that the coupled portion 13A and the first manipulator 3A or the second manipulator 4A can be coupled easily and reliably.

[0043] The guide section 13A-4 also includes a sensing section (not shown). The sensing section senses whether the connection state is normal when the connected section 13A is connected to the first manipulator 3A or the second manipulator 4A. The sensing result is fed back to the worker, so that the worker can perform the work reliably. The sensing section may be provided on the first connected section guided section 31A-3, the second connected section guided section 41A-2, or on both the guide section 13A-4 and the first connected section guided section 31A-3, and the second connected section guided section 41A-2.

[0044] <First Manipulator> The first manipulator 3A is coupled to the gripping device 1A and attaches the gripping device 1A to the object to be gripped 2A. As shown in FIG. 1, the first manipulator 3A is provided with a first joining portion 31A corresponding to the first joined portion 13A-2 of the gripping device 1A.

[0045] The first manipulator 3A may be any type of manipulator. It is preferable that the manipulator has an output sufficient to support the weight of the gripping device 1A, and for example, has a weight capacity larger than the weight of the gripping device and smaller than the weight of the object to be gripped. The output of the first manipulator 3A is not particularly limited, but may be, for example, a weight capacity of 100 kg or less, preferably a weight capacity of 50 kg or less, and more preferably a weight capacity of 30 kg or less. The first manipulator 3A can keep its output low because it only needs to grasp the grasping device 1A, which is lighter in weight than the grasped object 2A. This allows for delicate control using a force sensor that can detect small changes in force when attaching the grasping device 1A to the grasped object 2A. The first manipulator 3A may be operated by a human being or automatically by a computer.

[0046] The first connecting portion 31A connects the first manipulator 3A and the gripping device 1A via the first connected portion 13A-2 of the gripping device 1A. Also, as shown in FIG. 6, it is provided with a first coupling device 31A-1 that fixes the coupled state of the first manipulator 3A and the gripping device 1A by engaging with the first coupled portion 13A-2, and a working medium supply portion 31A-2 that supplies working medium to the fixing mechanism 14A. The structure, shape, material, etc. of the first connecting part 31A are not particularly limited. In addition, the first connecting part 31A may be detachable from the first manipulator 3A and attached to an existing manipulator. This allows the grasping system 100 of the present invention to be implemented using existing facilities.

[0047] The first connecting portion 31A also includes a first connecting portion guided portion 31A-3. As shown in FIG. 6, the first connecting portion guided portion 31A-3 engages with the guide portion 13A-4 of the gripping device 1A, thereby smoothly and reliably connecting the first manipulator 3A and the gripping device 1A. This strengthens the connected state of the first manipulator 3A and the gripping device 1A. The first connecting portion guided portion 31A-3 is also preferably provided with a sensor. This allows the operator to sense whether the connected state is normal, thereby ensuring reliable operation.

[0048] <Second Manipulator> The second manipulator 4A is coupled to the gripping device 1A and grips the object to be gripped 2A via the gripping device 1A. The second manipulator 4A also includes a second joining portion 41A corresponding to the second joined portion 13A-3 of the gripping device 1A.

[0049] The second manipulator 4A may be any type of manipulator, but is a relatively large manipulator capable of supporting the weight of the grasped object 2A and the gripping device 1A, and is, for example, a manipulator with a weight capacity greater than the combined weight of the grasped object and the gripping device. The output of the second manipulator 4A is not particularly limited, but is, for example, a weight capacity of 300 kg or more, and preferably a weight capacity of 500 kg or more.

[0050] The second manipulator 4A does not directly grasp the grasped object 2A, but grasps the grasped object 2A via the grasping device 1A. Therefore, even if a large manipulator is used as the second manipulator 4A, the grasped object 2A can be grasped safely without being damaged due to an operating error of the manipulator. The second manipulator 4A may be operated by a human being or automatically by a computer.

[0051] The second connecting portion 41A connects the second manipulator 4A and the gripping device 1A via the second connected portion 13A-3 of the gripping device 1A. As shown in FIG. 7, the second manipulator 4A includes a second coupler 41A-1 that fits into the second coupled portion 13A-3 to fix the coupled state of the second manipulator 4A and the grasping device 1A. The second coupling device 41A-1 is a structure having high strength since it is subjected to the load of the gripped object 2A. It is preferable to provide a plurality of second coupling devices 41A-1 in order to distribute the load due to the load of the gripped object 2A.

[0052] The second coupling portion 41A may be detachably attached to the second manipulator 4A and may be attached to an existing manipulator. This allows the grasping system 100 of the present invention to be implemented using existing facilities.

[0053] The second connecting portion 41A also includes a second connecting portion guided portion 41A-2. As shown in FIG. 7, the second connecting portion guided portion 41A-2 engages with the guide portion 13A-4 of the gripping device 1A, thereby smoothly and reliably connecting the second manipulator 4A and the gripping device 1A. This strengthens the connected state of the second manipulator 4A and the gripping device 1A. The second connecting portion guided portion 41A-2 is preferably provided with a sensor. This allows the operator to sense whether the connected state is normal, thereby ensuring reliable operation.

[0054] It is preferable that the output of the first manipulator 3A is smaller than the output of the second manipulator 4A. It is also preferable that the first manipulator 3A and the second manipulator 4A are each provided with a force sensor.

[0055] <Fixing mechanism> The fixing mechanism 14A is mainly provided inside the gripping device 1A, and operates the fixing part 12A by supplying a working medium, which will be described later. As shown in Fig. 8, the fixing mechanism 14A includes a fixed claw 14A-1, a shaft part 14A-2, an engagement part A 14A-3, a working medium introduction part 14A-4, a working medium adjustment part 14A-5, a pressure part 14A-6, an actuator A 14A-7, an actuator B 14A-8, an adjustment part 14A-9, an engagement part B 14A-10, an actuator C 14A-11, a pressing tool A 14A-12, a pressing tool B 14A-13, a sliding part 14A-71, and a packing 14A-72.

[0056] The fixed claws 14A-1 engage with recesses provided in the held portion 21A, which is the corresponding portion of the object to be grasped 2A, thereby fixing the state in which the grasping device 1A is held by the object to be grasped 2A. As shown in Fig. 8, the fixed claw 14A-1 has a claw-like protrusion shape and includes a shaft portion 14A-2 and an engagement portion A 14A-3. The fixed claw 14A-1 can be stored inside the holding portion 11A by rotating in an arc around the shaft portion 14A-2 by the operation of each part of the fixing mechanism 14A. The fixed claw 14A-1 can be deployed from inside the holding portion 11A by the pressing tool A 14A-12 and the pressing tool B 14A-13. Here, the number of fixing claws 14A-1 can be any number. To ensure secure fixing, it is preferable to provide two or more. Also, it is preferable that the tip portion of the fixing claw 14A-1 is tapered. This allows the holding portion 11A to be smoothly inserted into the held portion 21A.

[0057] The shaft portion 14A-2 is a part of the fixed claw 14A-1, and functions as a shaft when the fixed claw 14A-1 performs a pivoting movement to move in and out of the inside of the holding portion 11A. The engaging portion A14A-3 is a part of the fixed claw 14A-1 and has a shape corresponding to an engaging portion B14A-10 which is a part of the actuator B14A-8 described later. The engaging portion A14A-3 is in close contact with the engaging portion B14A-10 described later, thereby rotating the fixed claw 14A-1 around the shaft portion 14A-2 in the direction of being stored inside the holding portion 11A.

[0058] The working medium introduction section 14A-4 is for introducing a working medium that operates the fixing mechanism 14A to put the fixed claw 14A-1 into the housed state. The working medium introduction section 14A-4 is coupled to the working medium supply section 31A-2 of the first manipulator 3A to introduce the working medium into the fixing mechanism 14A.

[0059] Here, the working medium in this embodiment may be any fluid that can operate the fixing mechanism 14A. Examples include air, water, gas, oil, etc. Here, the working medium is preferably air. In this case, even if the working medium leaks from the fixing mechanism 14A due to some trouble, it is possible to prevent contamination of the grasped object 2A, each manipulator, and the working equipment. In addition, when the working medium is oil, a higher pressure can be applied compared to air, water, etc. As a result, even if the force to expand the fixed claws 14A-1 is increased, the fixation of the holding state to the grasped object 2A can be reliably released.

[0060] Here, the working medium introduction section 14A-4 in this embodiment has two introduction ports as shown in Fig. 8, and the working medium introduced from the introduction ports is guided to the working medium adjustment section 14A-5 via a flow path (not shown). The first introduction port is an introduction port for introducing the working medium for releasing the fixing mechanism 14A and putting the fixed claw 14A-1 into the housed state. The second introduction port is for supplying the working medium to the working medium adjustment section 14A-5 and releasing the interlock.

[0061] The working medium adjusting unit 14A-5 has an interlock function for locking the operation of the fixed claw 14A-1 in the stored state, and is structured so that the fixing mechanism 14A is not released unless the working medium is supplied from the two inlets at the same time. By providing the working medium adjusting unit 14A-5, when a problem occurs in the connection of the first manipulator, the grasped object 2A and the grasping device 1A are fixed, thereby improving the safety of the work.

[0062] Next, the interlock function of the working medium adjusting unit 14A-5 will be described. The working medium adjusting unit 14A-5 includes a line L1 through which the working medium introduced from the first inlet flows, a line L2 through which the working medium introduced from the second inlet flows, a pressurizing unit 14A-6 that supplies the working medium to the fixing mechanism 14A to put the fixed claw 14A-1 in a housed state, and a piston P that communicates with them. When the working medium is not supplied to the line L2, the piston P is in a housed state, and the line L1 and the pressurizing unit 14A-6 are not in communication, and when the working medium is supplied from the line L2, the piston P moves and the line L1 and the pressurizing unit 14A-6 are in communication. As a result, even if the working medium is introduced from the first inlet, when the working medium is not introduced from the second inlet, the working medium is not supplied to the pressurizing unit 14A-6, and therefore the fixed claw 14A-1 cannot be in a housed state.

[0063] The pressurizing section 14A-6 applies the working medium sent from the working medium adjusting section 14A-5 to the working tool A 14A-7, thereby moving the working tool A 14A-7 leftward in FIG.

[0064] The actuator A14A-7 moves the actuator B14A-8 to the left in Fig. 8. The actuator A14A-7 is constantly pressed to the right in Fig. 8 by the pressing tool A14A-12. As a result, the actuator A14A-7 is constantly pressed to the right in Fig. 8 except when the working medium is being sent from the pressurizing part 14A-6. The actuator A14A-7 is also provided with a sliding part 14A-71 that fits into the coupled part casing 13A-1 and slides during movement, and a packing 14A-72 that seals and prevents leakage of the working medium sent from the pressurizing part 14A-6.

[0065] Here, the shape of the working tool A 14A-7 may be any shape, but the shape on the side of the pressure unit 14A-6 is preferably a cylindrical shape that covers the pressure unit 14A-6 as shown in Fig. 8. In this case, the working medium sent to the pressure unit 14A-6 can be effectively received without leakage, and the fixing mechanism 14A can be operated accurately.

[0066] The operating tool B14A-8 is disposed on the holding part 11A side of the operating tool A14A-7. The operating tool B14A-8 moves leftward in Fig. 8 to cause the fixed claw 14A-1 to be housed in the holding part 11A. As shown in FIG. 8, the operating tool B14A-8 has an engaging portion B14A-10, and an operating tool C14A-11, which will be described later, is fixed to the operating tool B14A-8. As shown in Fig. 8, the engaging portion B14A-10 has a shape corresponding to the engaging portion A14A-3, and comes into close contact with the engaging portion A14A-3 when the operating tool B14A-8 moves leftward in Fig. 8. This causes the fixed claw 14A-1 to pivot about the shaft portion 14A-2 in the direction to be stored in the holding portion 11A. In addition, the operating tool B14A-8 is constantly pressed against the operating tool A14A-7 by the pressing tool B14A-13. As a result, when the operating tool B14A-8 is not pressed leftward in Fig. 8 by the operating tool A14A-7, the fixed claws 14A-1 are kept in the expanded state because the operating tool B14A-8 is separated from the engaging portion A14A-3. Therefore, when the operating tool B14A-8 is not held by the first manipulator 3A, the fixed claws 14A-1 are kept in the expanded state.

[0067] The adjustment tool 14A-9 is disposed between the actuator B 14A-8 and the actuator A 14A-7, and serves to adjust the position of the actuator B 14A-8 relative to the actuator A 14A-7. The adjustment tool 14A-9 can adjust the operation timing of the fixed claws 14A-1 and the amount by which the fixed claws 14A-1 extend from the holding portion 11A. The adjustment tool 14A-9 may be of any type. For example, as shown in Fig. 8, it may be a bolt screwed into the operating tool B 14A-8. In this case, the position of the operating tool B 14A-8 relative to the operating tool A 14A-7 can be adjusted by the amount of screwing into the operating tool B 14A-8.

[0068] When the first manipulator 3A is not connected to the gripping device 1A, the actuating tool C14A-11 is pressed to the right in Fig. 8 by the pressing tool B14A-13, thereby fixing the deployed state of the fixed claws 14A-1. When the working medium is introduced into the fixing mechanism 14A, the actuating tool C14A-11 moves to the left in Fig. 8 together with the actuating tool B14A-8, thereby releasing the fixed state of the deployed state of the fixed claws 14A-1.

[0069] The pressing tool A14A-12 is for pressing the operating tool A14A-7 to the right in FIG. 8 to put the fixed claw 14A-1 into the deployed state when no working medium is introduced into the fixing mechanism 14A. The pressing tool A14A-12 may be of any type. For example, as shown in FIG. 8, a spring may be used. In this case, the force for putting the fixed claw 14A-1 into the deployed state can be adjusted by replacing the spring with one having a different tension.

[0070] The pressing tool B14A-13 is for pressing the operating tool B14A-8 to the right in FIG. 8 to put the fixed claw 14A-1 into the deployed state when no working medium is introduced into the fixing mechanism 14A. The pressing tool B14A-13 may be of any type. For example, as shown in FIG. 8, a spring may be used. In this case, the force for putting the fixed claw 14A-1 into the deployed state can be adjusted by replacing the spring with one having a different tension.

[0071] <Operation of the fixing mechanism> Next, the operation of the fixing mechanism 14A will be described. As shown in Figures 9(A) and (B), the procedure of the operation of the fixing mechanism 14A to release the deployed state of the fixing part 12A proceeds in the following order: 1. Working medium introduction step, 2. Working medium adjustment step, 3. Pressurization step, 4. Actuator A operation step, 5. Actuator B operation step, 6. Actuator C operation step, 7. Engagement step, and 8. Fixing claw storage step.

[0072] 9(A), in 1. working medium introduction step, the working medium is introduced from the working medium supply unit 31A-2 of the first manipulator 3A to the working medium introduction unit 14A-4 and sent to the working medium adjustment unit 14A-5. At this time, if the first manipulator 3A is normally attached to the gripping device 1A, the working medium is introduced from both lines L1 and L2.

[0073] Next, in 2. Working medium adjustment step, only when the working medium is normally introduced into the working medium adjustment section 14A-5, the interlock is released and the working medium is sent to the pressurization section 14A-6.

[0074] Next, in 3. pressurizing step, the working medium sent from the working medium adjusting unit 14A-5 is applied to the working tool A 14A-7, and the working tool A 14A-7 is pressed leftward in FIG.

[0075] Next, in step 4. Operation of Actuator A, the pressure of the working medium sent from the pressure section 14A-6 moves the actuating tool A 14A-7 to the left in FIG. 8 against the resultant force of the pressing tool A 14A-12 and the pressing tool B 14A-13 to the right in FIG. 8.

[0076] Next, in step 5. Operation of Actuator B, the actuating tool B14A-8 moves leftward in Fig. 8 together with the actuating tool A14A-7, thereby moving the actuating tool C14A-11 in the same direction. Also, the engaging portion B14A-10 provided on the actuating tool B14A-8 is brought into close contact with the engaging portion A14A-3 provided on the fixed claw 14A-1.

[0077] Next, in step 6. Operation of Actuator C, the actuating tool C14A-11 moves to the left in Figure 8, and the protrusion portion for pushing apart the fixed claws 14A-1 formed at the end of the actuating tool C14A-11 is stored in the storage portion 11A-21.

[0078] Next, as shown in FIG. 9(B), in step 7. engagement, the engagement portion B14A-10 provided on the operating tool B14A-8 closely contacts and engages with the engagement portion A14A-3 provided on the fixed claw 14A-1, thereby pushing out the fixed claw 14A-1 so as to pivot around the shaft portion 14A-2 in the direction in which the fixed claw 14A-1 is stored within the holding portion 11A.

[0079] Finally, in 8. Fixed claw storage step, the fixed claws 14A-1 are rotated about the shafts 14A-2 to enter a stored state, and the gripping device 1A is released from the fixed state of holding the object 2A.

[0080] <Overall operation of the gripping system> Next, the overall operation of the gripping system 100 will be described. First, as shown in Fig. 1, the first manipulator 3A is operated to couple the first coupling portion 31A and the first coupled portion 13A-2 of the gripping device 1A, thereby bringing the first manipulator 3A and the gripping device 1A into a coupled state.

[0081] Next, the working medium is supplied from the working medium supply unit 31A-2 provided in the first joint portion 31A to the fixing mechanism 14A of the gripping device 1A, and the fixing portion 12A of the gripping device 1A becomes in the non-fixed state. Next, the first manipulator 3A is operated to insert the holding portion 11A of the gripping device 1A into the held portion 21A of the grasped object 2A, whereby the gripping device 1A is held by the grasped object 2A.

[0082] Next, the first manipulator 3A is operated to separate the connection between the first connecting part 31A and the first joined part 13A-2 of the gripping device 1A. This stops the supply of the working medium to the fixing mechanism 14A of the gripping device 1A, and the fixing part 12A is fixed to the gripped object 2A by the action of the fixing mechanism 14A.

[0083] Next, the second connecting portion 41A is connected to the second connected portion 13A-3 of the gripping device 1A by operating the second manipulator 4A. Then, the second manipulator 4A and the gripping device 1A are in a connected state. This completes the gripping of the gripped object 2A by the second manipulator 4A via the gripping device 1A.

[0084] After the second manipulator 4A has stably moved the grasped object 2A grasped via the grasping device 1A, the second manipulator 4A is operated to release the coupling state between the grasping device 1A and the second manipulator 4A. Then, the first manipulator 3A and the grasping device 1A are newly coupled to each other, thereby bringing the fixing part 12A into an unfixed state. Then, the first manipulator 3A is operated to remove the grasping device 1A from the grasped object 2A, and the state in which the grasped object 2A is held by the grasping device 1A is released. Then, the grasping device 1A is attached to a new grasped object 2A to continue the work.

[0085] [Second embodiment] A gripping system 200 according to a second embodiment of the present invention will be described with reference to Fig. 10. Fig. 10 is a schematic explanatory diagram showing the overall configuration of the gripping system 200 according to the second embodiment of the present invention.

[0086] The gripping system 200 is mainly characterized in that a gripping device 1B having a different fixing mechanism is used instead of the gripping device 1A of the gripping system 100 in the first embodiment. As shown in FIG. 10, the grasping system 200 is composed of a grasping device 1B, a grasped object 2B, a first manipulator 3B, and a second manipulator 4B.

[0087] The gripping system 200, like the gripping system 100 of the first embodiment, has a gripping device 1B attached to a grasped object 2B by a first manipulator 3B, and then the grasped object 2B is grasped by a second manipulator 4B via the gripping device 1B. Each component will be described in detail below. Here, the grasped object 2B and the second manipulator 4B are the same as the grasped object 2A and the second manipulator 4A in the first embodiment, and therefore the explanation thereof will be omitted.

[0088] <Gripping device> The gripping device 1B basically has the same features as the gripping device 1A in the first embodiment. In other words, by attaching it to the graspable object 2B, it functions as a so-called "handle," making it easier for the second manipulator 4B to grasp the graspable object 2B, and by being provided with a fixing part 12B for fixing the graspable object 2B and the grasping device 1B, it has the characteristic that the graspable object 2B can be grasped stably by the second manipulator 4B.

[0089] As shown in FIG. 11(A), a gripping device 1B in this embodiment includes a main body portion 10B, a holding portion 11B, a fixing portion 12B, and a coupled portion 13B. As shown in FIG. 11B, the main body 10B, the holding portion 11B, and the coupled portion 13B each include a fixing mechanism 14B therein, which is a mechanism for operating the fixing portion 12B.

[0090] Here, the main body portion 10B, holding portion 11B, and fixed portion 12B shown in Figures 12 and 13 are the same as the main body portion 10A, holding portion 11A, and fixed portion 12A in the gripping system 100 of the first embodiment, so explanations will be omitted.

[0091] (Connected part) The coupled part 13B shown in Fig. 14 is a part where the first manipulator 3B or the second manipulator 4B is coupled to the gripping device 1B. As shown in Fig. 14, the coupled part 13B includes a coupled part casing 13B-1, a first coupled part 13B-2, and a second coupled part 13B-3. Here, the coupled portion casing 13B-1 and the second coupled portion 13B-3 are the same as the coupled portion casing 13A-1 and the second coupled portion 13A-3 in the first embodiment, and therefore description thereof will be omitted.

[0092] The first coupled portion 13B-2 is a part of the coupled portion casing 13B-1, where the first manipulator 3B and the gripping device 1B are coupled. As shown in FIG. 14, the first coupled portion 13B-2 includes a guide portion 13B-21, a fixing protrusion 13B-22, and a positioning hole (not shown). Here, the guide portion 13B-21 is similar to the guide portion 13A-4 in the first embodiment, and therefore a description thereof will be omitted.

[0093] The fixing protrusion 13B-22 has a convex protruding shape and, as shown in FIG. 15, when the first manipulator 3B and the first connectable part 13B-2 are connected, it is inserted into the fixing hole 31B-11 provided in the deployment claw 31B-1 of the first connecting part 31B, thereby playing a part in the connected state of the grasping device 1B and the first manipulator 3B.

[0094] The positioning hole (not shown) is a tunnel-shaped recess formed in the first coupled part 13B-2 of the gripping device 1B, and as shown in Fig. 15, when the first manipulator 3B and the first coupled part 13B-2 are coupled, a positioning protrusion 31B-3 of the first coupling part 31B described later is inserted into the positioning hole, which plays a part in the coupled state of the gripping device 1B and the first manipulator 3B. In addition, the positioning hole is used to determine the correct position when the first manipulator 3A and the first coupled part 13B-2 are coupled, so that the first manipulator 3A and the gripping device 1B can be coupled more accurately and quickly. The first coupled portion 13B-2 can be shaped so as to be coupled only to the first coupling portion 31B of the first manipulator 3B. This makes it possible to prevent the second manipulator 4B from being coupled to the first coupled portion 13B-2 by mistake.

[0095] Fig. 16 is a schematic explanatory diagram showing a state in which the second manipulator 4B is coupled to the second coupled portion 13B-3 of the gripping device 1B via the second coupling portion 41B. As shown in Fig. 16, the second coupling portion 41B (Fig. 10) includes a second coupling portion 41B-1 and a second coupling portion guided portion 41B-2. The second coupling portion 41B-1 and the second coupling portion guided portion 41B-2 correspond to the second coupling portion 41A-1 and the second coupling portion guided portion 41A-2 of the first embodiment, respectively, and their explanations are omitted.

[0096] <Fixing mechanism> The fixing mechanism 14B is provided mainly inside the gripping device 1B, and is a mechanism for operating the fixing part 12B by mechanical operation by the first manipulator 3B. As shown in Fig. 17, the fixing mechanism 14B includes a fixing claw 14B-1, a shaft part 14B-2, an engagement part A 14B-3, a pull-out part 14B-4, an expansion part 14B-5, a push-out part 14B-6, an actuation tool A 14B-7, an actuation tool B 14B-8, an adjustment tool 14B-9, an engagement part B 14B-10, an actuation tool C 14B-11, a pressing tool A 14B-12, and a pressing tool B 14B-13.

[0097] Here, fixed claw 14B-1, shaft portion 14B-2, engagement portion A14B-3, actuator A14B-7, actuator B14B-8, adjustment tool 14B-9, engagement portion B14B-10, actuator C14B-11, pressing tool A14B-12, and pressing tool B14B-13 are the same as fixed claw 14A-1, shaft portion 14A-2, engagement portion A14A-3, actuator A14A-7, actuator B14A-8, adjustment tool 14A-9, engagement portion B14A-10, actuator C14A-11, pressing tool A14A-12, and pressing tool B14A-13 in the first embodiment, so description thereof will be omitted.

[0098] The pull-out portion 14B-4 is adapted to unfold the unfolding portion 14B-5 by being pulled out in the upward or downward direction in FIG. The pull-out section 14B-4 has a cylindrical hollow portion, into which the spreading claws 31B-1 of the first coupling section 31B are inserted, and is pulled out in the upward or downward direction in Fig. 17 according to the movement of the spreading claws 31B-1. At that time, the fixing protrusions 13B-22 in the pull-out section 14B-4 are inserted into the fixing holes 31B-11 provided in the spreading claws 31B-1, thereby strengthening the coupling between the first manipulator 3B and the gripping device 1B.

[0099] The expanding section 14B-5 is equipped with a crank mechanism that converts the force with which the pull-out section 14B-4 is pulled out in the upward or downward direction in Fig. 17 into a force that moves the operating tool A 14B-7 in the leftward direction in Fig. 17 by the crank mechanism and transmits the force to the pushing section 14B-6. As shown in FIGS. 18(A) and (B), the unfolding portion 14B-5 is mechanically linked with the pull-out portion 14B-4 to operate a crank mechanism. The pushing portion 14B-6 pushes out the operating tool A 14B-7 to the left in FIG. 17 by the force transmitted from the expanding portion 14B-5, thereby moving the operating tool A 14B-7.

[0100] <First Manipulator> The first manipulator 3B is coupled to the gripping device 1B and attaches the gripping device 1B to the object to be gripped 2B. The first manipulator 3B also includes a first connecting portion 31B that corresponds to the first connected portion 13B-2 of the gripping device 1B. The first manipulator 3B may be any type of manipulator. Preferably, the manipulator has an output that is sufficient to support the weight of the gripping device 1B. For example, the output of the first manipulator 3B in the present invention may be a small manipulator with a payload capacity of approximately 30 kg. This allows delicate control by a force sensor capable of detecting small changes in force when attaching the gripping device 1B to the object to be gripped 2B. Moreover, the first manipulator 3B may be operated by a human being or may be automatically operated by a computer.

[0101] The first connecting portion 31B connects the first manipulator 3B and the gripping device 1B via the first connected portion 13B-2 of the gripping device 1B. 15(A) and 15(B), the device is provided with a deployment claw 31B-1 that is inserted into the pull-out portion 14B-4 to operate the fixing mechanism 14B and strengthen the connection between the first manipulator 3B and the gripping device 1B. The device is also provided with a deployment groove 31B-2 that moves the deployment claw 31B-1 in the deployment direction, and a positioning protrusion 31B-3 for reliably connecting the gripping device 1A and the first connecting portion 31B. In addition, a first joint portion guided portion 31B-4 is provided. Here, the first joint portion guided portion 31B-4 is similar to the first joint portion guided portion 31A-3 in the first embodiment, and therefore a description thereof will be omitted. The structure, shape, material, etc. of the first connecting part 31B are not particularly limited. In addition, the first connecting part 31B may be detachably attached to the first manipulator 3B and attached to an existing manipulator. This allows the grasping system 100 of the present invention to be implemented using existing facilities.

[0102] <Operation of the fixing mechanism> Next, the operation of the fixing mechanism 14B will be described. As shown in Figures 18(A) and (B), the procedure of the operation of the fixing mechanism 14B to release the fixed state of the fixed part 12B proceeds in the following order: 1. pull-out step, 2. unfolding step, 3. push-out step, 4. actuator A operation step, 5. actuator B operation step, 6. actuator C operation step, 7. engagement step, and 8. fixed claw storage step. The details will be explained below.

[0103] First, as shown in Fig. 18(A), in 1. Pulling-out step, the spreading claw 31B-1 of the first joint part 31B provided on the first manipulator 3B is inserted into the pull-out part 14B-4 by operating the first manipulator 3B. Next, the spreading claw 31B-1 moves along the spreading groove 31B-2 provided on the first joint part 31B.

[0104] As a result, as shown in FIG. 18(A), the pull-out portion 14B-4 is pulled out in the upward or downward direction in FIG. 18(A). Next, in the 2. unfolding step, the unfolding part 14B-5 unfolds the crank mechanism by the pull-out part 14B-4, which applies a force to the push-out part 14B-6 in contact with the unfolding part 14B-5 to move it leftward in FIG. Next, in 3. pushing step, the pushing portion 14B-6 pushes the operating tool A 14B-7 leftward in FIG. 18(A). Next, in step 4. Operation of Actuator A, the actuating tool A 14B-7 moves to the left in Figure 18(A) against the resultant force of pressing tool A 14B-12 and pressing tool B 14B-13 acting to the right in Figure 18(A) due to the force applied from the extrusion portion 14B-6. As a result, the operating tool A 14B-7 pushes the operating tool B 14B-8 to the left in FIG. 18(A).

[0105] Next, in step 5. Operation of Actuator B, the actuating tool B14B-8 moves leftward in Fig. 18 so as to be pushed out by the actuating tool A14B-7, thereby moving the actuating tool C14B-11 fixed to the actuating tool B14B-8 in the same direction. Also, the engaging portion B14B-10 provided on the actuating tool B14B-8 is brought into close contact with the engaging portion A14B-3 provided on the fixed claw 14B-1. Next, in 6. Operation Step of Actuator C, the actuating tool C 14B-11 moves leftward in FIG. 18(A), whereby the portion in contact with the fixed claw 14B-1 is housed within the insertion portion 11B-2.

[0106] Next, as shown in FIG. 18(B), in step 7. engagement, the engagement portion B14B-10 provided on the operating tool B14B-8 closely contacts and engages with the engagement portion A14B-3 provided on the fixed claw 14B-1, thereby pushing out the fixed claw 14B-1 so as to pivot about the shaft portion 14B-2 in the direction of being stored in the gripping device 1B. The fixed claw 14B-1 then pivots about the shaft 14B-2 to enter a stored state, and the fixed state of the gripped object 2B held by the gripping device 1B is released.

[0107] <Overall operation of the gripping system> Next, the overall operation of the gripping system 200 will be described. 10, first, the first connecting portion 31B and the first connected portion 13B-2 of the gripping device 1B are connected to each other by operating the first manipulator 3B. This brings the first manipulator 3B and the gripping device 1B into a connected state.

[0108] Next, the deployment claw 31B-1 provided on the first joint portion 31B moves along the deployment groove 31B-2 to deploy the pull-out portion 14B-4, which activates the fixing mechanism 14B to release the fixing portion 12B of the gripping device 1B. Next, the first manipulator 3B is operated to insert the holding portion 11B of the gripping device 1B into the held portion 21B of the gripped object 2B. This causes the gripping device 1B to be held by the gripped object 2B.

[0109] Next, the spreading claw 31B-1 moves along the spreading groove 31B-2, and the pull-out part 14B-4 is pushed into the gripping device 1B. This causes the fixing mechanism 14B to fix the fixing part 12B to the gripped object 2B. Next, the first manipulator 3B is operated to separate the connection between the first connecting part 31B and the first joined part 13B-2 of the gripping device 1B.

[0110] Next, the second connecting portion 41B is connected to the second connected portion 13B-3 of the gripping device 1B by operating the second manipulator 4B. This brings the second manipulator 4B and the gripping device 1B into a connected state, completing the gripping of the gripped object 2B by the second manipulator 4B via the gripping device 1B.

[0111] After the second manipulator 4B has stably moved the grasped object 2B grasped via the grasping device 1B, the second manipulator 4B is operated to release the coupling state between the grasping device 1B and the second manipulator 4B. Then, the first manipulator 3B and the grasping device 1B are newly coupled, and the pull-out part 14B-4 is pulled out by the deploying claw 31B-1 to put the fixing part 12B in an unfixed state. Then, the first manipulator 3B is operated to release the gripping device 1B from the gripping object 2B, and the grasping device 1B is attached to a new gripping object 2B to continue the work.

[0112] The above-described embodiments show examples of the gripping system, gripping device, and gripping method. The gripping system, gripping device, and gripping method according to the present invention are not limited to the above-described embodiments, and the gripping system, gripping device, and gripping method according to the above-described embodiments may be modified within the scope of the gist of the claims.

[0113] For example, the positioning hole (not shown) and the positioning protrusion 31B-3 in the second embodiment can be used for the gripping device 1A in the first embodiment. This allows the gripping system 100 in the first embodiment to easily and reliably couple the gripping device 1A to the first manipulator 3A. [Industrial Applicability]

[0114] INDUSTRIAL APPLICABILITY The gripping system, gripping device, and gripping method according to the present invention can be suitably used for installing, moving, etc. objects that are large in size and heavy in weight. In addition, the remote control can be used for construction, repair, installation, etc. in places where it is difficult for humans to enter. For example, it can be used for maintenance and replacement work of reactor internal structures (such as blankets) installed in high radiation environments such as nuclear fusion reactors. [Explanation of symbols]

[0115] 100, 200... gripping system, 1A, 1B... gripping device, 2A, 2B... object to be gripped, 3A, 3B... first manipulator, 4A, 4B... second manipulator, 10A, 10B... main body part, 11A, 11B... holding part, 12A, 12B... fixing part, 13A, 13B... part to be coupled, 14A, 14B... fixing mechanism, 21A, 21B... part to be held, 31A, 31B... first coupling part, 41A, 41B... second coupling part, 10A-1, 10B-1... main body casing, 10A-2, 10B-2... pressing tool A holding part, 10A-3, 10B-3... pressing tool B holding part, 10A-4, 10B-4... fixture A, 11A-1, 11B-1... holding part casing, 11A-2, 11B-2... insertion part, 11A-3, 11B-3... fixture B, 13A-1, 13B-1... part to be coupled casing, 13A-2, 13B-2... first part to be coupled, 13A-3, 13B-3... second part to be coupled, 13A-4... guide part, 14A-1, 14B-1... fixing claw, 14A-2, 14B-2... shaft part, 14A-3, 14B-3... engaging part A, 14A-4... actuating medium introduction part, 14B-4... extraction part, 14A-5... actuating medium adjustment part, 14B-5... deployment part, 14A-6... pressurizing part, 14B-6... extrusion part, 14A-7, 14B-7... actuating tool A, 14A-8, 14B-8... actuating tool B, 14A-9, 14B-9... adjusting tool, 14A-10, 14B-10... engaging part B, 14A-11, 14B-11... actuating tool C, 14A-12, 14B-12... pressing tool A, 14A-13, 14B-13... pressing tool B, 31A-1... first coupling tool, 31B-1... deployment claw, 31A-2... actuating medium supply part, 31A-3... first coupling part guided part, 31B-2... deployment groove, 31B-3... positioning projection, 31B-4... first coupling part guided part, 41A-1, 41B-1... second coupling tool, 41A-2, 41B-2... second coupling part guided part, 11A-21, 11B-21... storage part, 13B-21... guide part, 13B-22... fixing projection, 14A-71... sliding part, 14A-72... packing, 31B-11... fixing hole

Claims

1. A gripping system having a first manipulator, a second manipulator, and a gripping device, The first manipulator attaches the gripping device to a gripped object, The second manipulator grasps the object to be grasped via the grasping device attached to the object to be grasped, The gripping device includes a fixing mechanism for fixing the gripping device to the object to be gripped, the fixing mechanism including: a fixed claw that fits into a recess provided in a corresponding portion of the object to be grasped, the fixed claw being deployed from inside to outside the gripping device when pressed by an actuator, and being accommodated in the inside of the gripping device when the pressure of the actuator is released; and a working medium introduction portion for introducing a working medium that releases the pressing of the fixed claw by the operating tool. A gripping system comprising:

2. A gripping system having a first manipulator, a second manipulator, and a gripping device, The first manipulator attaches the gripping device to a gripped object, the second manipulator grasps the object to be grasped via the grasping device attached to the object to be grasped, The gripping device includes a first coupled part having a notched groove for coupling with the first manipulator, and a second coupled part having a notched groove for coupling with the second manipulator. A gripping system comprising:

3. The working medium introduction section is coupled to the working medium supply section of the first manipulator, and is provided with a first line for circulating the working medium to a pressurizing section for operating the actuator, and a second line for circulating the working medium to a piston which circulates the working medium to the pressurizing section; When the gripping device and the first manipulator are connected and the working medium is supplied to both the first line and the second line, the working medium flows through the pressurizing unit to operate the operating tool. A gripping system according to claim 1 , characterized in that it comprises:

4. The gripping system according to claim 2 , characterized in that an area of ​​the region where the second connectable part and the second manipulator are connected is larger than an area of ​​the region where the first connectable part and the first manipulator are connected.

5. A method for gripping an object using a first manipulator, a second manipulator, and a gripping device, comprising: a step of attaching the gripping device to the grasped object by the first manipulator, in which a fixed claw provided on the gripping device is pressed by an actuator to be deployed from inside to outside the gripping device, and the fixed claw is fitted into a recess provided in a corresponding portion of the grasped object; A grasping method comprising the step of the second manipulator grasping the object to be grasped via the grasping device attached to the object to be grasped.

6. A method for grasping an object using a first manipulator, a second manipulator, and a grasping device, comprising: The gripping device includes a first coupled part having a notched groove for coupling with the first manipulator, and a second coupled part having a notched groove for coupling with the second manipulator, A step in which the first manipulator attaches the gripping device connected via the first coupled portion to the gripped object; A grasping method comprising: a step of the second manipulator grasping the graspable object attached to the grasping device by connecting the grasping device via the second connectable part.

7. A gripping device attached to a gripped object by a first manipulator, A fixing mechanism for fixing the object to be grasped is provided, the fixing mechanism comprising: a fixed claw that fits into a recess provided in a corresponding portion of the object to be grasped, the fixed claw being deployed to the outside of the gripping device when pressed by an actuator and being accommodated inside the gripping device when the pressure of the actuator is released; a working medium introduction portion that introduces a working medium that releases the pressing of the fixed claw by the operating tool, The working medium introduction unit is connected to the working medium supply unit of the first manipulator, and includes a first line for circulating the working medium to a pressurizing unit for operating the actuator, and a second line for circulating the working medium to a piston that circulates the working medium to the pressurizing unit; When the gripping device and the first manipulator are connected and the working medium is supplied to both the first line and the second line, the working medium flows through the pressurizing unit to operate the operating tool. A gripping device comprising:

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