Object gripping device, hand unit, and hand unit assembly sheet

Abstract

To improve storage properties of a hand part as compared with conventional configurations in which an assembled hand part cannot be stored.SOLUTION: An object gripping device (1) comprises a hand part (11) which has a grip part (12) capable of contacting an object (9) and a first link part (14), a second link part (17) and a third link part (19), and an arm part (2) which moves the hand part (11) toward and away from the object (9). The object gripping device (1) can grip the object (9) in a first grip state in which the object is gripped with one end part (12a) of the grip part (12) or in a second grip state in which the grip part (12) and third link part (19) contact the object (9) to grip the object (9), the hand part (11) being deformable between a folded state in which the third link (19) and grip part (12) are rotated around the respective joint parts (13, 16, 18, and 20) to be opposed and close to each other, and an expansion state in which the third link part (19) and grip part (12) are apart from each other.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an object gripping device that grips an object, a hand unit that is disposed at the tip of the object gripping device and comes into contact with the object, and a hand unit assembly sheet for assembling the hand unit. [Background technology]

[0002] The technology described in Patent Document 1 below is known regarding an object gripping device, also known as a robot arm or manipulator, which grips and moves objects such as items displayed on shelves in convenience stores and supermarkets, or products produced in factories.

[0003] Patent Document 1 (JP 2019-111633 A) describes a technology in which a movable mechanism forming portion (200), a support forming portion (400), and a connecting member forming portion (600) are formed on a single sheet-like device assembly sheet, and an article-grasping device (1) having the movable mechanism (20), support (40), and connecting member (60) is created by folding the device assembly sheet. The device (1) in Patent Document 1 is configured to be able to grasp an article between the movable mechanism (20), which resembles the index finger of a human hand, and the support (40), which resembles the thumb of a human hand. Furthermore, the device (1) of Patent Document 1 has a movable mechanism (20) provided with multiple bending portions (22c, 24d, 24e) that correspond to finger joints, making it possible to grasp an article by pinching it between the tip ends of the movable mechanism (20) and the support (40), or by wrapping it between the base ends of the movable mechanism (20) and the support (40). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-111633 A ("0008"-"0015") Summary of the Invention [Problem to be solved by the invention]

[0005] (Problems with the prior art) Robot hands are used in situations and fields where hygiene precautions are required, such as in the food, pharmaceutical, and medical fields. In these fields, it may be preferable for the parts that come into direct contact with the object (hand units) to be disposable in order to maintain a hygienic environment. In the case of a disposable configuration, it is desirable from the perspective of work efficiency that an unused hand unit can be quickly attached after a used hand unit is removed, that is, that the hand unit be easily attached and detached. In particular, it is desirable that the hand unit be configured so that it can be replaced with unused ones one after another. In a configuration having a movable mechanism and a support body as in Patent Document 1, the device (1) corresponding to the hand unit must be assembled every time it is replaced, resulting in poor work efficiency in the attachment and detachment work. To improve work efficiency, it is also possible to pre-assemble multiple devices (1). However, the device (1) of Patent Document 1 is difficult to store compactly in its assembled state, and the assembled device (1) is bulky, creating a problem in securing storage space. Furthermore, since the device (1) must be handled by a person during storage or replacement work, there is a risk that the device (1) may be dropped and damaged, or may be hit against a wall or floor and damaged.

[0006] The present invention has a technical object to improve the storability of the hand unit compared to conventional configurations in which the assembled hand unit cannot be stored. [Means for solving the problem]

[0007] In order to solve the above technical problem, the object gripping device of the invention described in claim 1 is: a hand unit having a gripping unit having a contact surface capable of coming into contact with an object and extending in a longitudinal direction from one end side to the other end side; a first link unit having one end rotatably connected to the other end side of the gripping unit via a first joint unit; a second link unit having one end rotatably connected to the other end side of the first link unit via a second joint unit; and a third link unit having one end rotatably connected to the other end side of the second link unit via a third joint unit and having the other end rotatably connected to a position on the one end side of the first joint unit of the gripping unit via a fourth joint unit; an arm unit having a pair of socket units at a tip end thereof that support the second link unit, and that moves the hand unit in a direction toward or away from an object; An object grasping device comprising: When the object is grasped between the hand units supported by the pair of socket units, the object can be grasped in a first grasping state in which the object is grasped by one end of the grasping unit, or in a second grasping state in which the grasping unit and the third link unit come into contact with the object to grasp the object, The hand unit can be transformed between a folded state in which the third link unit and the grip unit face each other and are close to each other by rotating at each joint unit, and an unfolded state in which the third link unit and the grip unit are separated from each other. the law of nature, the socket portion has a holding portion that is movable between a holding position that holds the hand portion and a removal position from which the hand portion is removed, the holding portion detachably holding the second link portion, and a storage portion that stores the hand portion in a folded state, When the holding unit is moved to the removal position, a used hand unit is removed, and when the holding unit is moved to the holding position, an unused hand unit housed in the housing unit is attached to the holding unit. It is characterized by:

[0008] The invention described in claim 2 is the object gripping device described in claim 1, The grip portion, the first joint portion, the first link portion, the second joint portion, the second link portion, the third joint portion, and the third link portion are formed by folding a single sheet. It is characterized by:

[0009] The invention described in claim 3 is the object gripping device described in claim 2, the hand unit having a spring property that applies a force to transition from the folded state to the unfolded state by an elastic restoring force of the sheet, in the first joint unit, the second joint unit, and the third joint unit; The present invention is characterized by the following.

[0010] The invention described in claim 4 is an object gripping device according to any one of claims 1 to 3, the hand unit having a biasing member that applies a force to transition from the folded state to the unfolded state; The present invention is characterized by the following.

[0011] In order to solve the above technical problems, Claim 5 The hand unit of the invention described in The tip of the object gripping device that grips the object The device is supported in a detachable state in a socket provided in the device, and can be transformed between a folded state in which it can be stored in the socket and an unfolded state in which it can grip an object. A hand unit, a gripping portion having a contact surface capable of contacting an object and extending in a longitudinal direction from one end side to the other end side; a first link portion having one end rotatably connected to the other end of the grip portion via a first joint portion; a second link portion having one end rotatably connected to the other end of the first link portion via a second joint portion; a third link portion having one end rotatably connected to the other end of the second link portion via a third joint portion and having the other end rotatably connected to a position of the grip portion on the one end side of the first joint portion via a fourth joint portion; Equipped with The folded state is The third link portion and the grip portion are opposed to each other and approach each other by rotating the joint portions. It is a state, The deployed state is The third link portion and the grip portion are separated from each other. It is in a state It is characterized by:

[0012] In order to solve the above technical problems, Claim 6 The hand assembly sheet of the invention described in Object The object gripping device is supported in a detachable state in a socket provided at the tip of the object gripping device, and can be transformed between a folded state in which it can be stored in the socket and an unfolded state in which it can grip the object. Bend and assemble the hand part for A hand assembly sheet, a gripping portion having a contact surface capable of contacting an object and extending in a longitudinal direction from one end side to the other end side; a first link portion having one end disposed on the other end side of the grip portion; a second link portion having one end disposed on the other end side of the first link portion; a third link portion having one end side disposed on the other end side of the second link portion; a connecting portion provided on the other end side of the third link portion and connectable to a connecting portion formed on the grip portion when the third link portion is bent; when assembled, portions corresponding to a first joint portion between the grip portion and the first link portion, a second joint portion between the first link portion and the second link portion, a third joint portion between the second link portion and the third link portion, and a fourth joint portion formed in a portion of the connecting portion; and The folded state is a state in which the third link portion and the grip portion are opposed to and close to each other by rotating at each joint portion, and the unfolded state is a state in which the third link portion and the grip portion are separated from each other. It is characterized by: [Effects of the Invention]

[0013] Claim 1 ,5,6 According to the invention described above, the storability of the hand unit can be improved compared to the conventional configuration in which the assembled hand unit cannot be stored. Furthermore, according to the invention as set forth in claim 1, used hand units can be automatically replaced with unused hand units one after another. According to the invention of claim 2, compared to when each part is composed of a separate part, the production and assembly work can be made easier, and the manufacturing cost can be reduced. According to the invention described in claim 3, the spring property of the joints allows the hand section to naturally assume the deployed state. According to the invention as set forth in claim 4, the hand section can be naturally brought into the deployed state by the force of the biasing member. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 1 is an explanatory diagram of an object gripping device according to a first embodiment of the present invention. [Figure 2] FIG. 2 is a side view of the hand unit of the first embodiment. [Figure 3]3A and 3B are explanatory diagrams of the unfolding and folding of the hand portion of the first embodiment, with FIG. 3A being an explanatory diagram of the unfolded state and FIG. 3B being an explanatory diagram of the folded state. [Figure 4] FIG. 4 is a development view of the hand unit of the first embodiment, and is an explanatory view of the hand unit assembly sheet. [Figure 5] 5A and 5B are explanatory diagrams of the positional relationship between the claws and the openings in the first embodiment, with FIG. 5A being an explanatory diagram in the unfolded state and FIG. 5B being an explanatory diagram in the folded state. [Figure 6] FIG. 6 is an explanatory diagram of the flap portion of the first embodiment. [Figure 7] 7A and 7B are explanatory cross-sectional views of the main part of the socket part of the first embodiment, in which FIG. 7A is a cross-sectional view seen from the front, and FIG. 7B is a cross-sectional view taken along line VIIB-VIIB in FIG. 7A. [Figure 8] Figure 8 is an explanatory diagram of the operation of the socket part of Example 1, Figure 8A is an explanatory diagram of the state before the hand part is removed, Figure 8B is an explanatory diagram of the state after the outer protrusion has moved to the removal position, Figure 8C is an explanatory diagram of the state after the outer protrusion has returned to the holding position, Figure 8D is an explanatory diagram of the state after the inner protrusion has moved to the delivery position, and Figure 8E is an explanatory diagram of the state after the inner protrusion has returned to the holding position. [Figure 9] 9A and 9B are explanatory diagrams of the gripping states of the gripping portion of Example 1, in which FIG. 9A is an explanatory diagram of a pinch gripping state which is an example of a first gripping state, and FIG. 9B is an explanatory diagram of a familiar gripping state which is an example of a second gripping state. [Figure 10] FIG. 10 is an explanatory diagram of a hand unit having a conventional configuration, where FIG. 10A is a photograph of the exterior and FIG. 10B is an explanatory diagram of the link mechanism. [Figure 11] FIG. 11 is an explanatory diagram of a hand assembly sheet according to the second embodiment, and corresponds to FIG. 4 of the first embodiment. [Figure 12] FIG. 12 is an enlarged view of the joint portion of the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0015] Next, specific examples of the present invention (hereinafter referred to as examples) will be described with reference to the drawings, but the present invention is not limited to the following examples. In the following description using the drawings, illustrations of components other than those necessary for the description are omitted as appropriate to facilitate understanding. [Example]

[0016] FIG. 1 is an explanatory diagram of an object gripping device according to a first embodiment of the present invention. In FIG. 1, a robot arm 1 as an example of an object gripping device according to a first embodiment of the present invention has an arm unit 2. The arm unit 2 has a plurality of arm link units 3 (3a to 3c) extending like rods, and arm joint units 4 (4a to 4d) that rotatably connect the arm link units 3a to 3c. Each arm joint unit 4 has a built-in motor (not shown), which can rotate and move the arm link unit 3 on the distal end side relative to the arm link unit 3 on the proximal end side. Note that the drive source for moving the arm link unit 3 is not limited to a motor, and an air cylinder, a solenoid, or the like can also be used. Furthermore, while the arm joint unit 4 is rotatable around one axis in the example, the present invention is not limited to this, and a configuration that allows rotation around two or more rotation axes, a universal joint, or the like can also be used. A socket support 6 is rotatably supported via an arm joint 4d at the tip of the arm link 3c closest to the tip. A pair of sockets 7 (7a, 7b) as an example of a hand support are supported on the socket support 6 so as to be rotatable about socket joints 8 (8a, 8b). A motor (not shown) is also built into the socket joint 8, which enables rotation of the sockets 7a, 7b.

[0017] (Hand part explanation) FIG. 2 is a side view of the hand unit of the first embodiment. Each socket 7 supports a hand 11 that contacts and grips the object 9. A pair of hand 11 in Example 1 is arranged symmetrically. In FIG. 2, the hand 11 in Example 1 has a gripping portion 12 on the tip side. The gripping portion 12 is formed in a flat plate shape extending in the longitudinal direction from one end 12a side to the other end 12b side. Furthermore, the gripping portion 12 has a contact surface 12c1 that can contact the object 9 on the inner side, which is the side where the hand 11 face each other. One end 14a of a first link 14 is rotatably connected to the other end 12b of the grip 12 via a first joint 13. One end 17a of a second link 17 is rotatably connected to the other end 14b of the first link 14 via a second joint 16. One end 19a of a third link 19 is rotatably connected to the other end 17b of the second link 17 via a third joint 18. The other end 19b of the third link 19 is rotatably connected to the grip 12 at a fourth joint 20 at a position closer to the one end 12a than the first joint 13. In the first embodiment, the second joint portion 16 and the third joint portion 18 are formed by folding lines of a hand assembly sheet 31, which will be described later.

[0018] 3A and 3B are explanatory diagrams of the unfolding and folding of the hand portion of the first embodiment, with FIG. 3A being an explanatory diagram of the unfolded state and FIG. 3B being an explanatory diagram of the folded state. Therefore, the hand unit 11 of Example 1 has a link mechanism configured as shown by the thick lines in Fig. 2, which is a so-called four-bar link shape. Therefore, as shown in Fig. 3, the hand unit 11 of Example 1 is deformable between an unfolded state shown in Fig. 3A and a folded state shown in Fig. 3B. As shown in Fig. 3B, in the folded state, the first link unit 14 and the second link unit 17 are arranged in a state close to each other in an extended plane, the third link unit 19 faces and is close to the second link unit 17, and the grip unit 12 faces and is close to the third link unit 19. In the unfolded state, the third link unit 19 is spaced apart from the grip unit 12 and the second link unit 17. In the first embodiment, a rubber cord 21, which is an example of a biasing member, is arranged to straddle the first joint portion 13 and the third joint portion 18. The rubber cord 21 is set to a length that is natural in the unfolded state and extended in the folded state. Therefore, when the hand unit 11 is folded, an elastic restoring force acts on the rubber cord 21 to return it to the unfolded state. Note that although a rubber cord is used as an example of a biasing member, this is not limiting and any elastic body such as a coil spring or torsion spring can be used. Furthermore, if the configuration allows a natural transition from the folded state to the unfolded state due to the restoring force of paper, plastic, or the like that returns it to a flat state from a folded state, or gravity, it is also possible to configure the device without providing a biasing member.

[0019] (Hand assembly sheet instructions) FIG. 4 is a development view of the hand unit of the first embodiment, and is an explanatory view of the hand unit assembly sheet. 4, the hand unit 11 of Example 1 is formed by folding a single hand unit assembly sheet 31. The hand unit assembly sheet 31 is preferably made of paper, plastic, rubber, or other resin material, but it can also be made of metal materials such as aluminum foil, nonwoven fabric, etc. It is also possible to use a composite material in which the surface of paper or resin is coated with metal or cloth. The hand assembly sheet 31 can be processed (cut out) into a desired shape using a laser processing machine, etc. The method of processing into a desired shape is not limited to using a laser processing machine, and press processing or manual cutting by a person is also possible. In FIG. 4, the "mountain fold lines" when assembling the hand portion 11 are indicated by "chain dotted lines" and the "valley fold lines" are indicated by "dashed lines."

[0020] 5A and 5B are explanatory diagrams of the positional relationship between the claws and the openings in the first embodiment, with FIG. 5A being an explanatory diagram in the unfolded state and FIG. 5B being an explanatory diagram in the folded state. 4, in the hand assembly sheet 31 of Example 1, grip reinforcement portions 12d, 12e are provided on both sides of the grip main body portion 12c of the grip portion 12 in the short direction (width direction). A recovery assist portion 12f is formed on the inner end side of each grip reinforcement portion 12d, 12e in the width direction. The recovery assist portion 12f is folded back onto the surface behind the contact surface 12c1. The recovery assist portion 12f is not adhered to either the grip main body portion 12c or the grip reinforcement portions 12d, 12e. A plurality of claws 12h are formed at the outer end of the first grip reinforcement portion 12d in the width direction. A plurality of openings 12i corresponding to the claws 12h are formed in the second grip reinforcement portion 12e. The openings 12i in Example 1 are formed in a rectangular shape extending in the width direction. When the hand unit 11 is assembled, the claws 12h are fitted into the openings 12i. Therefore, in the unfolded state shown in FIG. 5A, the cross section of the grip portion 12 as a whole is triangular as shown in FIG. 5A. In a configuration without the grip reinforcements 12d and 12e, the grip portion 12 is composed of only a single sheet (i.e., only the grip main body portion 12c), which has low rigidity. When the contact surface 12c1 of the object 9 comes into contact with the object 9, the grip main body portion 12c may bend, making it difficult to grip the object. In contrast, in the configuration provided with the gripping reinforcements 12d and 12e, the cross section is triangular, and the overall rigidity is improved compared to the configuration with only one sheet, making it easier to grip the object 9.

[0021] Furthermore, when the hand unit 11 is folded, the claws 12h move in the width direction along the opening 12i and can move inward in the width direction as shown in Fig. 5B. Therefore, the grip reinforcements 12d and 12e do not prevent the hand unit 11 from being folded. When the hand unit 11 changes from a folded state to an unfolded state, the restoring force of the hand unit assembly sheet 31 is used to unfold the grip reinforcement portions 12d and 12e. When using the restoring force of the hand unit assembly sheet 31, depending on the material, folding along the fold line may not restore the angle required for unfolding. However, in Example 1, by providing the restoration assisting portion 12f, the angle required for unfolding is half that required when the restoration assisting portion 12f is not provided. For example, if it is desired to unfold the grip reinforcement portions 12d and 12e at 60° relative to the grip main body portion 12c, a configuration without the restoration assisting portion 12f would require the sheet to unfold at 60° due to the restoring force of the sheet. However, with the restoration assisting portion 12f, the restoration assisting portion 12f can unfold at 30° relative to the grip main body portion 12c, and the grip reinforcement portions 12d and 12e can unfold at 30° relative to the restoration assisting portion 12f. Therefore, by providing the restoration assisting portion 12f, even when a sheet material with weak restoring force is used, it is possible to easily unfold the sheet to the desired position (desired state, desired unfolding angle) by utilizing the restoring force of the sheet material. Note that, although Example 1 illustrates a configuration in which one restoration assisting portion 12f (one stage) is provided, it is also possible to provide multiple stages depending on the restoring force of the sheet material and the desired unfolding angle.

[0022] Additionally, a plurality of folded reinforcement portions 12j are formed along the outer edge of the second grip reinforcement portion 12e. The folded reinforcement portions 12j can be folded back and attached to the second grip reinforcement portion 12e with an adhesive or the like to increase the strength of the second grip reinforcement portion 12e and increase the overall strength of the grip portion 12. Note that if reinforcement is not required, such as in the case of a low-load application where the gravity of the object 9 is light or when the sheet itself has sufficient rigidity, it is possible to configure the sheet without providing the folded reinforcement portions 12j. Furthermore, a connecting slit 12k, which is an example of a connecting portion, is formed in the grip body 12c at a position closer to the one end 12a than the other end 12b. 4, in the hand unit assembly sheet 31 of Example 1, tip restoration assisting parts 32 (32a, 32b) are formed on one end 12a side of the gripping part 12. The tip restoration assisting parts 32a, 32b are arranged for the same purpose as the restoration assisting part 12f described above, and have the same function. The tip restoration assisting parts 32a, 32b are arranged to return the flap part 33, which will be described later, to its initial position (a state in which the flap part 33 is parallel to the gripping main body part 12c).

[0023] FIG. 6 is an explanatory diagram of the flap portion of the first embodiment. In FIG. 4, a flap portion 33 is formed on the tip side of the tip restoration assisting portion 32. In FIGS. 4 and 6, the flap portion 33 has a flap support portion 33a connected to the tip side of the tip restoration assisting portion 32b and a flap main body portion 33b connected to the tip side. The flap main body portion 33b is formed so as to have a triple thickness by being folded from both sides in the width direction. A plurality of holes 33c are formed on the surface of the flap main body portion 33b to form unevenness that improves friction when contacting the object 9. In the flap portion 33 of Example 1, the flap main body portion 33b is movable relative to the grip main body portion 12c by the flap support portion 33a, and when the object 9 contacts the flap main body portion 33b, the flap main body portion 33b can swing along the surface shape of the object 9. Therefore, it is possible to increase the contact area between the object 9 and the flap main body portion 33b, and it is possible to more reliably grasp the object 9 with the hand portion 11 compared to a configuration without the flap portion 33.

[0024] 4, a first joint portion 13 is formed on the other end portion 12b side of the grip portion 12. The first joint portion 13 of Example 1 is configured by folding back two joint parts 13a and 13b. Note that by configuring the first joint portion 13 of Example 1, overlapping (interference between) the grip reinforcements 12d and 12e and the first link reinforcements (14d and 14e, described below) can be prevented during pinch gripping, which will be described later. This allows a force to be reliably applied to the object 9, and the object 9 can be reliably gripped by the hand portion 11. Furthermore, in Example 1, the longitudinal ends of the gripping reinforcement portions 12d, 12e and the first link reinforcement portions 14d, 14e of the hand portion 11 protrude toward the first joint portion 13, so when forming them from a single sheet, it is possible to ensure space for the gripping reinforcement portions 12d, 12e and the first link reinforcement portions 14d, 14e to be created without overlapping in the unfolded view. 4, first link portion 14 has first link reinforcing portions 14d, 14e, edge reinforcing portions 14f, claw portions 14h, and openings 14i formed on first link main body portion 14c, similar to grip portion 12. The functions of first link reinforcing portions 14d, 14e, edge reinforcing portions 14f, claw portions 14h, and openings 14i are similar to those of grip portion 12, and therefore detailed description thereof will be omitted.

[0025] 4, second link reinforcement portions 17d and 17e are formed on the outside in the width direction of second link main body portion 17c of second link portion 17. By bonding second link reinforcement portions 17d and 17e to second link main body portion 17c, the thickness of second link portion 17 becomes three times (three times the thickness of hand portion assembly sheet 31), thereby providing reinforcement. Note that, similar to folded reinforcement portion 12j, if reinforcement is not necessary, it is also possible to configure without providing second link reinforcement portions 17d and 17e. In the second link portion 17 of Example 1, the width L1 of the second link main body portion 17c (and the second link reinforcing portions 17d, 17e) is formed longer (wider) than the width L0 of the grip portion 12, the first link portion 14, and the third link portion 19. The portion corresponding to this width difference (L1-L0) forms a supported portion 17f that is supported by the socket portion 7. In Example 1, the supported portion 17f is formed integrally with the second link main body portion 17c, continuing from it (without a fold line).

[0026] 4, third link portion 19 has third link reinforcement portions 19d and 19e, claw portion 19h, and opening portion 19i formed on third link main body portion 19c, similar to grip portion 12. The functions of third link reinforcement portions 19d and 19e, claw portion 19h, and opening portion 19i are similar to those of grip portion 12, and therefore detailed description thereof will be omitted. 4, the fourth joint portion 20 has a convex fourth joint body portion 20a. The fourth joint body portion 20a is connected by being inserted into a connecting slit 12k of the grip body portion 12c, thereby connecting the third link portion 19 and the grip portion 12. Fourth joint reinforcement portions 20b, 20c, 20d, and 20e are formed on the outer sides in the width direction of the fourth joint body portion 20a. In Example 1, with the fourth joint body portion 20a inserted into the connecting slit 12k, the outer portions 20c and 20e in the width direction are bonded to the grip reinforcement portions 12d and 12e, thereby reinforcing the overall strength of the hand portion 11.

[0027] (Socket part description) 7A and 7B are explanatory cross-sectional views of the main part of the socket part of the first embodiment, in which FIG. 7A is a cross-sectional view seen from the front, and FIG. 7B is a cross-sectional view taken along line VIIB-VIIB in FIG. 7A. In Fig. 7, the socket unit 7 of the first embodiment has a housing 41. The housing 41 has an accommodation space 42, which is an example of an accommodation unit, formed therein. The accommodation space 42 can accommodate a plurality of hand units 11 in a folded state. A bottom plate 43, which is an example of a push-out member, is disposed at the bottom of the accommodation space 42. The bottom plate 43 receives a force pushing it outward from the accommodation space 42 by a spring 44, which is an example of a biasing member. A pair of an outer protrusion 46 and an inner protrusion 47, which serve as an example of a holding portion, are disposed facing each other on the side wall of the accommodation space 42 at the outer end of the accommodation space 42. Each protrusion 46, 47 is configured to be movable (retractable) between a protruding state and a recessed state relative to the inner surface of the side wall of the accommodation space 42. When the protrusions 46, 47 are protruding, the distance L2 between the outer protrusions 46 and the distance L2 between the inner protrusions 47 are set to be narrower than the width L1 of the second link main body 17c and wider than the width L0 of the grip main body 12c. That is, L1 > L2 > L0. When the protrusions 46, 47 are recessed, the distance between the outer protrusions 46 and the distance between the inner protrusions 47, i.e., the distance between the side walls, is set to be wider than the width L1 of the second link main body 17c.

[0028] Figure 8 is an explanatory diagram of the operation of the socket part of Example 1, Figure 8A is an explanatory diagram of the state before the hand part is removed, Figure 8B is an explanatory diagram of the state after the outer protrusion has moved to the removal position, Figure 8C is an explanatory diagram of the state after the outer protrusion has returned to the holding position, Figure 8D is an explanatory diagram of the state after the inner protrusion has moved to the delivery position, and Figure 8E is an explanatory diagram of the state after the inner protrusion has returned to the holding position. 8A, when gripping an object 9 using the hand unit 11, multiple hand units 11 (11a to 11f) are stored in a folded state in the storage space 42, and the hand unit 11 is used with the supported portion 17f of the outermost hand unit 11a held between the outer protrusion 46 and the inner protrusion 47. In this state, the hand unit 11a is transformed from the folded state to the unfolded state by the force of the elastic cord 21. Therefore, the object 9 can be gripped using the hand unit 11a.

[0029] 8A and 8B, when removing the used hand part 11a, the outer protrusions 46 are moved from the protruding holding position to the recessed removal position. When the outer protrusions 46 move to the removal position, the used hand part 11a becomes detachable from the socket part 7. At this time, the next unused hand part 11b is about to expand due to the force of the elastic cord 21, and as the next hand part 11b expands, the used hand part 11a is pushed out. Thus, the used hand part 11a is removed from the socket part 7. 8B to 8D, after the outer protrusions 46 are returned to the holding position (see FIG. 8C), the inner protrusions 47 are moved to the sending position embedded in the side wall (see FIG. 8D), and the unused hand units 11b to 11f are sent outward by the force of the springs 44 of the bottom plate 43. Then, the supported unit 17f of the outermost hand unit 11b stops in contact with the outer protrusions 46. Then, when the inner protrusion 47 is returned to the holding position protruding from the side wall (see FIG. 8E), the unused hand portion 11b is held between the outer protrusion 46 and the inner protrusion 47, making it possible to grasp the object 9.

[0030] When all unused hand parts 11a to 11f are set in the storage part 42, the supported part 17f of the outermost hand part 11a is positioned inside the inner protrusion 47, but by performing the steps of Figures 8C to 8E, it is possible to hold the supported part 17f of the outermost hand part 11a between the outer protrusion 46 and the inner protrusion 47. In this way, in the first embodiment, the hand units 11a to 11f housed in the housing unit 42 can be replaced one after another by sequentially operating the protrusions 46 and 47 that are holding units. In Example 1, the outer protrusion 46 and the inner protrusion 47 are configured to be moved by a motor (not shown), but any driving source can be used, such as a combination of a spring and a solenoid, an air cylinder, or a hydraulic cylinder.

[0031] (Explanation of Control Means of Robot Arm 1 in First Embodiment) In FIG. 1, the control unit C of the robot arm 1 of the first embodiment is composed of an I / O (input / output interface) that inputs and outputs signals from and to the outside and adjusts the input / output signal levels, a ROM (read-only memory) that stores programs and data for performing necessary startup processing, a RAM (random access memory) for temporarily storing necessary data and programs, a CPU (central processing unit) that performs processing in accordance with the startup program stored in the ROM, etc., and a computer device that has a clock oscillator, etc., a so-called microcomputer, and can realize various functions by executing the programs stored in the ROM, RAM, etc.

[0032] (Function of control unit C) 9A and 9B are explanatory diagrams of the gripping states of the gripping portion of Example 1, in which FIG. 9A is an explanatory diagram of a pinch gripping state which is an example of a first gripping state, and FIG. 9B is an explanatory diagram of a familiar gripping state which is an example of a second gripping state. The control unit C of the first embodiment has the following functional means (program modules) C1 to C3. The arm control means C1 controls the rotation of each motor of the arm joints 4a to 4d of the robot arm 1 to control the position of the hand unit 11 relative to the object 9. In FIG. 9, when the hand units 11 grasp the object 9 together with their tips close to the object 9, the object 9 can be held in a pinch-hold state (an example of a first grasping state) in which the tips of the grippers 12 hold the object 9, as shown in FIG. 9A. On the other hand, when the robot arm 1 is moved from the state shown in FIG. 9A until the socket unit 7 approaches the object 9, the object 9 can be held in a slip-hold state (an example of a second grasping state) in which the grippers 12 and the third link unit 19 come into contact with the object 9 and grip the object, as shown in FIG. 9B. Note that pinch-holding and slip-holding themselves are described in Patent Document 1 and are publicly known, so detailed description thereof will be omitted.

[0033] The grip control means C2 controls the motor of the socket joint portion 8 to control the spacing between the tip portions of the hand portions 11 (opening and closing of the hand portions 11). When gripping the object 9, the grip control means C2 narrows the spacing between the hand portions 11 (closes the tips of the hand portions 11), and when releasing the object 9, the grip control means C2 widens the spacing between the hand portions 11 (opens the tips of the hand portions 11). The replacement control means C3 controls the operation of the outer protrusions 46 and the inner protrusions 47 to control replacement of the hand unit 11. When replacing a used hand unit 11, the replacement control means C3 of the first embodiment controls the protrusions 46, 47 as shown in FIGS. 8A to 8E to replace the used hand unit 11 with an unused hand unit 11 accommodated in the accommodation space 42.

[0034] (Function of Example 1) FIG. 10 is an explanatory diagram of a hand unit having a conventional configuration, where FIG. 10A is a photograph of the exterior and FIG. 10B is an explanatory diagram of the link mechanism. In the robot arm 1 of Example 1 having the above-described configuration, the hand unit 11 is configured to be foldable, as shown in Fig. 3. In the conventional configuration shown in Patent Document 1, the assembled hand unit 01, when shown with a link mechanism, takes the shape shown in Fig. 10B and cannot be folded. Therefore, if the hand unit 01 is pre-assembled, it takes up space and is prone to damage during replacement work. In contrast, in Example 1, the hand unit 11 is foldable, so even if it is assembled in advance, it can be folded and stored, which saves space compared to conventional configurations and improves storability. In particular, it can be stored in a state housed in the socket unit 7, allowing multiple hand units 11 to be stored together, improving storability of the hand unit 11 and work efficiency. In particular, if the configuration allows replacement of each socket unit 7, replenishing the hand unit 11 can be achieved by simply replacing the socket unit 7, further improving work efficiency.

[0035] Furthermore, as in the prior art, if the hand unit 01 is difficult to store even after it has been assembled, it is not possible to assemble a large number of hand units 01 in advance, and even if one attempts to use disposable hand units 01 one after another, there is a tendency for unused hand units 01 to run short. This poses a problem of poor work efficiency in handling the target object 9, such as the need to temporarily stop work with the robot arm 1 to assemble the hand unit 01. In contrast, with the robot arm 1 that uses a foldable hand unit 11 as in Example 1, it is possible to assemble a large number of hand units 11 in advance and store them. This makes it easier to prevent a shortage of hand units 11, improving work efficiency. In particular, in the first embodiment, the hand unit 11 housed in the socket unit 7 can be automatically replaced under the control of the control unit C, eliminating the need to manually replace the hand unit 11 every time. This also makes it possible to prevent sanitary contamination during the replacement work.

[0036] Furthermore, the hand unit 11 of Example 1 can be made by folding a single hand unit assembly sheet 31, which makes it easier to make the hand unit assembly sheet 31 and assemble the hand unit 11 than when the grip unit 12, first link unit 14, etc. are made up of separate parts. This also makes it possible to reduce the manufacturing costs of the hand unit 11. [Example]

[0037] FIG. 11 is an explanatory diagram of a hand assembly sheet according to the second embodiment, and corresponds to FIG. 4 of the first embodiment. FIG. 12 is an enlarged view of the joint portion of the second embodiment. Next, a second embodiment will be described, but the same components as those in the first embodiment will be denoted by the same reference numerals and detailed description thereof will be omitted. In FIG. 11, the hand unit 11′ of Example 2 has a configuration in which mountain folds and valley folds are alternately repeated multiple times at each of the joints 13′, 16′, 18′, and 20′. In FIG. 12, the joints 13′, 16′, 18′, and 20′ of Example 2 are configured in a so-called bellows or accordion shape. Furthermore, in each of the joints 13′, 16′, 18′, and 20′ of Example 2, mountain folds and valley folds are alternately repeated, and the other end 12b of the gripping unit 12 and a portion on the side of one end 14a of the first link unit 14 (one side of the accordion) are bonded. Thus, in the hand unit 11′ of Example 2, this configuration imparts springiness to the joints 13′, 16′, 18′, and 20′. Therefore, the hand portion 11' of the second embodiment can naturally change from the folded state to the unfolded state due to the elastic restoring force of the sheet and the springiness of the joint portions 13', 16', 18', and 20'. Unlike the hand portion 11 of the first embodiment, the hand portion 11' of the second embodiment does not have the elastic cord 21.

[0038] (Function of Example 2) Unlike Example 1, the hand unit 11' of Example 2 having the above configuration does not have the rubber cord 21. Therefore, the entire hand unit 11' can be made from a single hand unit assembly sheet 31, and no separate member such as the rubber cord 21 is required. This improves assembly efficiency and eliminates the need to separate the rubber cord 21 when disposing of or recycling, improving recyclability.

[0039] (Example of change) Although the embodiments of the present invention have been described above in detail, the present invention is not limited to the above embodiments and various modifications can be made within the scope of the gist of the present invention as set forth in the claims. Modifications (H01) to (H06) of the present invention are exemplified below. (H01) In the above embodiment, the robot arm 1 is used to move an object, but the present invention is not limited to this. For example, the present invention can be applied to inventory management of objects 9, recognition of objects 9 purchased by customers in unmanned stores, etc.

[0040] (H02) In the above embodiment, the socket portion 7 is rotatable around the socket joint portion 8, but the present invention is not limited to this. For example, it is also possible to use a slider that slides the socket portions 7 in directions in which they move toward or away from each other, thereby controlling the distance between the hand portions 11, 11′. (H03) In the above embodiment, it is desirable to provide the flap portion 33 and the reinforcing portions 12d, 12e, etc., but it is also possible to configure them without providing them. (H04) In the above embodiment, the hand units 11, 11' are configured with a four-joint link, but this is not limiting. For example, by configuring the first link unit 14 and the third link unit 19 with multiple joints, it is possible to configure the entire unit with a five-joint link, a six-joint link, or the like.

[0041] (H05) In the above embodiment, it is desirable to have a configuration in which a plurality of hand units 11, 11' are accommodated in the socket unit 7 and are automatically replaced one after another, but this is not limitative. It is also possible to have a configuration in which only one hand unit 11, 11' can be attached at a time. (H06) In the above embodiment, it is desirable to configure the hand units 11, 11' from a single sheet, but this is not limitative. It is also possible to configure each of the sections 12 to 19 separately and then assemble them. For example, it is also possible to configure the gripping unit 12 and link units 14, 17, 19 from a thick, highly rigid sheet material, and the joint units 13, 16, 18, 20, 13', 16', 18', 20' from a thin sheet material. [Explanation of symbols]

[0042] 1...Object grasping device, 2...Arm section, 7...Socket part, 9...object, 11,11'...hand part, 12...gripping part, 12a...one end of the gripping part, 12b...the other end of the gripping portion, 12c1...Contact surface, 13, 13′…first joint portion, 14...first link portion, 14b...the other end of the first link portion, 16, 16'...second joint, 17...second link portion, 17b...the other end of the second link portion, 18,18'...third joint, 19...Third link part, 20,20'...fourth joint, 21... biasing member, 31...Hand assembly sheet, 42...container, 46,47...holding part, C...Control unit.

Claims

1. a hand unit having a gripping unit having a contact surface capable of coming into contact with an object and extending in a longitudinal direction from one end side to the other end side; a first link unit having one end rotatably connected to the other end side of the gripping unit via a first joint unit; a second link unit having one end rotatably connected to the other end side of the first link unit via a second joint unit; and a third link unit having one end rotatably connected to the other end side of the second link unit via a third joint unit and having the other end rotatably connected to a position on the one end side of the first joint unit of the gripping unit via a fourth joint unit; an arm unit having a pair of sockets at a tip end thereof for supporting the second link unit, and configured to move the hand unit in a direction toward or away from an object; An object grasping device comprising: When the object is grasped between the hand portions supported by the pair of socket portions, the object can be grasped in a first grasping state in which the object is grasped by one end of the grasping portion, or in a second grasping state in which the grasping portion and the third link portion come into contact with the object to grasp the object, the hand unit is deformable between a folded state in which the third link unit and the grip unit face each other and are close to each other by rotating at each joint unit, and an unfolded state in which the third link unit and the grip unit are separated from each other, the socket portion has a holding portion that is movable between a holding position that holds the hand portion and a removal position from which the hand portion is removed, the holding portion detachably holding the second link portion, and a storage portion that stores the hand portion in a folded state, When the holding unit is moved to the removal position, a used hand unit is removed, and when the holding unit is moved to the holding position, an unused hand unit housed in the housing unit is attached to the holding unit. An object gripping device characterized by:

2. The grip portion, the first joint portion, the first link portion, the second joint portion, the second link portion, the third joint portion, and the third link portion are formed by folding a single sheet.

2. The object gripping device according to claim 1.

3. the hand portion having a spring property that applies a force for transitioning from the folded state to the unfolded state by an elastic restoring force of the sheet, in the first joint portion, the second joint portion, and the third joint portion; 3. The object gripping device according to claim 2, further comprising:

4. the hand unit having a biasing member that applies a force to transition from the folded state to the unfolded state; 4. The object gripping device according to claim 1, further comprising:

5. A hand unit that is detachably supported in a socket provided at the tip of an object gripping device that grips an object, and that can be transformed between a folded state in which it can be housed in the socket and an unfolded state in which it can grip an object, a gripping portion having a contact surface capable of contacting an object and extending in a longitudinal direction from one end side to the other end side; a first link portion having one end rotatably connected to the other end of the grip portion via a first joint portion; a second link portion having one end rotatably connected to the other end of the first link portion via a second joint portion; a third link portion having one end rotatably connected to the other end of the second link portion via a third joint portion and having the other end rotatably connected to a position of the grip portion on the one end side of the first joint portion via a fourth joint portion; Equipped with the folded state is a state in which the third link portion and the grip portion are opposed to and close to each other by rotating at each joint portion, The deployed state is a state in which the third link portion and the grip portion are separated from each other. Hand part.

6. A hand assembly sheet for folding and assembling a hand unit that is detachably supported in a socket provided at the tip of an object gripping device that grips an object, and that can be transformed between a folded state that can be stored in the socket and an unfolded state that can grip an object, a gripping portion having a contact surface capable of contacting an object and extending in a longitudinal direction from one end side to the other end side; a first link portion having one end disposed on the other end side of the grip portion; a second link portion having one end disposed on the other end side of the first link portion; a third link portion having one end side disposed on the other end side of the second link portion; a connecting portion provided on the other end of the third link portion and connectable to a connecting portion formed on the grip portion when the third link portion is bent; when assembled, portions corresponding to a first joint portion between the grip portion and the first link portion, a second joint portion between the first link portion and the second link portion, a third joint portion between the second link portion and the third link portion, and a fourth joint portion formed in a portion of the connecting portion; and The folded state is a state in which the third link portion and the grip portion are opposed to and close to each other by rotating at each joint portion, and the unfolded state is a state in which the third link portion and the grip portion are separated from each other. A sheet for assembling a hand part, characterized in that

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