Multi-hand pad, multi-hand pad group, double-sided tool pad, single-sided tool pad, and single-sided tool pad group

Abstract

To provide a highly convenient multi hand pad.SOLUTION: A multi hand pad 1 fixed to nails 10A, 10B of a gripper 10 of a robot arm includes a front side 11 where mutually crossing first groove 21 and second groove 22 are formed, and a back side 12 which is a surface on the opposite side to the front side 11, and is fixed so that the back side 12 abuts on the nails 10A, 10B, to thereby provide a highly convenient multi hand pad.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an attachment provided on a robot arm. [Background technology]

[0002] For example, Patent Document 1 below discloses an invention regarding a robot arm. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-021523 Summary of the Invention [Problem to be solved by the invention]

[0004] Conventional attachments such as those disclosed in Patent Document 1 are not very convenient.

[0005] An object of the present invention is to provide a highly convenient multi-hand pad, a group of multi-hand pads, a double-sided tool pad, a single-sided tool pad, and a group of single-sided tool pads. [Means for solving the problem]

[0006] According to the multi-hand pad in the first aspect of the present invention, A multi-hand pad fixed to the jaws of a gripper in a robot arm, a front surface on which a first groove and a second groove that intersect with each other are formed; a back surface that is the surface opposite to the front surface, The back surface is fixed in place so as to abut against the claw. It is characterized by:

[0007] According to the multi-hand pad in the second aspect of the present invention, A multi-hand pad fixed to a gripping portion of a gripping tool, a front surface on which a first groove and a second groove that intersect with each other are formed; a back surface that is the surface opposite to the front surface, The back surface is fixed to the grip portion so as to abut against the grip portion. It is characterized by:

[0008] Preferably, The first groove and the second groove are formed so as to intersect at right angles at a central position on the front surface. It is characterized by:

[0009] According to the multi-hand pad group in the third aspect of the present invention, Two or more of the multi-hand pads are provided. It is characterized by:

[0010] According to the double-sided tool pad in the fourth aspect of the present invention, a first side surface on which a protrusion capable of fitting into the first groove and the second groove of the multi-hand pad is formed; a second side surface opposite to the first side surface, on which the protrusion is formed; and a fixing surface that can be fixed to an object. It is characterized by:

[0011] According to the single-sided tool pad of the fifth aspect of the present invention, a first side surface on which a protrusion capable of fitting into the first groove and the second groove of the multi-hand pad is formed; a second side surface opposite to the first side surface, The second side surface is fixed to the object so as to abut against the object. It is characterized by:

[0012] According to the single-sided tool pad group in the sixth aspect of the present invention, a first side surface on which a protrusion capable of fitting into the first groove and the second groove of the multi-hand pad is formed; a second side surface opposite to the first side surface, Two or more single-sided tool pads are provided, each of which is fixed so that the second side surface abuts against the object. It is characterized by: [Effects of the Invention]

[0013] The multi-hand pad, multi-hand pad group, double-sided tool pad, single-sided tool pad, and single-sided tool pad group of the present invention can grasp objects of various shapes while keeping manufacturing costs down, thereby providing high convenience. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a front view showing a multi-hand pad according to a first embodiment of the present invention. [Figure 2] FIG. 2 is a view taken along the line II-II in FIG. [Figure 3] FIG. 3 is a view taken along the line III-III in FIG. [Figure 4] 1 is a front view showing a gripper (open state) to which a multi-hand pad group according to a first embodiment of the present invention is attached. FIG. [Figure 5] 1 is a front view showing a gripper (closed state) to which a multi-hand pad group according to a first embodiment of the present invention is attached. FIG. [Figure 6] FIG. 10 is a front view showing a double-sided tool pad according to a second embodiment of the present invention. [Figure 7] FIG. 7 is a view taken along the line VII-VII in FIG. 6. [Figure 8] FIG. 8 is a view taken along the line VIII-VIII in FIG. 6. [Figure 9] FIG. 10 is a rear view showing a double-sided tool pad according to a second embodiment of the present invention. [Figure 10] FIG. 10 is a front view showing a double-sided tool pad (modified example) according to a second embodiment of the present invention. [Figure 11]FIG. 10 is a rear view showing a double-sided tool pad (modified example) according to the second embodiment of the present invention. [Figure 12] FIG. 10 is a front view showing a single-sided tool pad according to a third embodiment of the present invention. [Figure 13] FIG. 13 is a view taken along the arrows XIII-XIII in FIG. [Figure 14] FIG. 14 is a view taken along the line XIV-XIV in FIG. [Figure 15] FIG. 10 is a front view illustrating a state in which a double-sided tool pad according to a second embodiment of the present invention is gripped. [Figure 16] FIG. 10 is a front view illustrating a state in which a single-sided tool pad according to a third embodiment of the present invention is gripped. [Figure 17] FIG. 10 is a front view illustrating a state in which a single-sided tool pad group is gripped according to a third embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, a multi-hand pad, a multi-hand pad group, a double-sided tool pad, a single-sided tool pad, and a single-sided tool pad group according to the present invention will be described by way of examples with reference to the drawings.

[0016] [Example 1] 1 to 3, the multi-hand pad group according to this embodiment has two multi-hand pads 1 each having a substantially rectangular parallelepiped shape and having first and second grooves 21 and 22 formed on a front surface 11. The first groove 21 and the second groove 22 intersect with each other.

[0017] The first groove 21 is a V-shaped groove formed on the front surface 11 from the center of one side 11A to the center of side 11C parallel to side 11A. The second groove 22 is a V-shaped groove formed on the front surface 11 from the center of side 11B perpendicular to side 11A to the center of side 11D parallel to side 11B.

[0018] Therefore, the first groove 21 and the second groove 22 are formed so as to intersect at right angles at the center position O of the front surface 11.

[0019] Further, threaded holes 23 to 26 extending toward the front surface 11 are formed on the back surface 12, which is the surface opposite to the front surface 11. However, in consideration of strength, it is preferable that the positions of the threaded holes 23 to 26 are formed so as not to overlap with the positions of the first and second grooves 21, 22. The inner peripheral surface of each of the threaded holes 23 to 26 is threaded.

[0020] 4 and 5 show a gripper 10 in a so-called parallel open / close type robot arm. Fig. 4 shows the gripper 10 in an open state, and Fig. 5 shows the gripper 10 in a closed state.

[0021] The gripper 10 includes a rail 10C and claws 10A and 10B attached to the tip of the rail 10C.

[0022] The claws 10A and 10B each have a flat plate portion 31A, 31B. The flat plate portion 31A and the flat plate portion 31B are opposed to each other and spaced apart from each other.

[0023] The rail 10C extends parallel to the direction in which the opposing flat plate portions 31A and 31B are spaced apart. The claws 10A and 10B can move symmetrically on the rail 10C, moving toward and away from each other. This movement is controlled by a motor (or air pressure drive) not shown. This movement enables the gripper 10 to be opened or closed.

[0024] Further, the flat plate portion 31A is provided with screw holes 51 to 54 formed so as to penetrate the inner surface 42 facing the flat plate portion 31B to the outer surface 41 on the opposite side in parallel with the separation direction.

[0025] Similarly, the flat plate portion 31B is provided with screw holes 55 to 58 that are formed so as to penetrate the inner surface 44 facing the flat plate portion 31A to the outer surface 43 on the opposite side in parallel with the separation direction.

[0026] The screw holes 23 to 26 of one multi-hand pad 1 are formed at positions corresponding to the screw holes 51 to 54 of the flat plate portion 31A. The screw holes 23 to 26 of the other multi-hand pad 1 are formed at positions corresponding to the screw holes 55 to 58 of the flat plate portion 31B.

[0027] The two multi-hand pads 1 are fixed so that the rear surfaces 12 come into contact with the flat plate portions 31A and 31B of the claws 10A and 10B, respectively.

[0028] 4, the back surface 12 of one of the multi-hand pads 1 is brought into contact with the inner surface 42 of the flat plate portion 31A, and in this state, a screw 61 is threaded into the screw hole 51 and the screw hole 23 from the outer surface 41 of the flat plate portion 31A. In the same manner, by threading a screw 62 into the screw hole 52 and the screw hole 24, a screw 63 into the screw hole 53 and the screw hole 25, and a screw 64 into the screw hole 54 and the screw hole 26, one of the multi-hand pads 1 can be fixed to the nail 10A.

[0029] Furthermore, the back surface 12 of the other multi-hand pad 1 is brought into contact with the inner surface 44 of the flat plate portion 31B, and in this state, a screw 65 is threaded into the screw hole 55 and the screw hole 24 from the outer surface 43 of the flat plate portion 31B. In the same manner, the other multi-hand pad 1 can be fixed to the nail 10B by threading a screw 66 into the screw hole 56 and the screw hole 23, a screw 67 into the screw hole 57 and the screw hole 26, and a screw 68 into the screw hole 58 and the screw hole 25.

[0030] In the above-mentioned fixed state, the front surfaces 11 of the two multi-hand pads 1 face each other.

[0031] In this embodiment, with the two multi-hand pads 1 fixed, the gripper 10 is opened as shown in Figure 4, and the claws 10A and 10B, to which the multi-hand pads 1 are fixed, are positioned on either side of the object.The gripper 10 is then closed as shown in Figure 5, allowing the object to be clamped from both sides, thereby allowing the gripper 10 to grasp the object.

[0032] In this embodiment, when gripping an object as described above, the grooves 21 and 22 formed in the multi-hand pad 1 catch on the object, making it less likely to slip off. This makes it possible to grip flat plates, block-shaped objects, and other irregularly shaped parts by their flat surfaces, and to grip the edges of flat plates. Furthermore, it is also possible to grip spherical objects and rod-shaped objects (round bars, square bars).

[0033] In this embodiment, the robot arm is described as being of a parallel opening and closing type, but the present invention is not limited to this, and may be, for example, a robot arm of a so-called fulcrum opening and closing type.

[0034] Although the multi-hand pad 1 according to this embodiment is fixed to the flat plate portions 31A and 31B by screws, the present invention is not limited to this. That is, the two multi-hand pads 1 only need to be fixed to the flat plate portions 31A and 31B, respectively, and the attachment method is not important.

[0035] The material of the multi-hand pad 1 according to this embodiment can be changed to suit the application, as long as it is metal, resin, ceramic, or the like and can be processed by cutting, polishing, wire cutting, or the like.

[0036] According to this embodiment, by attaching the multi-hand pad 1 having the grooves 21 and 22 formed therein, it is possible to grip objects of various shapes with only one gripper 10. This has the effect of reducing the number of setup steps and parts.

[0037] According to this embodiment, by attaching the multi-hand pad 1 having the grooves 21 and 22 formed therein, the gripper 10 can grip an object in the same way in both the vertical and horizontal directions, which makes it possible to reduce unnecessary operations such as changing the gripping direction, thereby realizing a reduction in operation time.

[0038] According to this embodiment, when an object has a simple shape, the center position of the grooves 21 and 22 can be automatically maintained (positioning and transporting can be performed) when the object is gripped by the gripper 10 equipped with the multi-hand pad 1 having the grooves 21 and 22. This allows the object to be roughly gripped when gripping and precisely positioned when placing.

[0039] The number of multi-hand pads 1 included in the multi-hand pad group according to this embodiment may be any number as long as it is two or more.

[0040] [Example 2] The double-sided tool pad 101 according to this embodiment is used in combination with the multi-hand pad group according to the first embodiment.

[0041] As shown in FIGS. 6 to 9, the double-sided tool pad 101 according to this embodiment has a substantially rectangular parallelepiped shape, and has a first side surface 111 on which a cone-shaped protrusion 120 and first to fourth strip-shaped protrusions 121 to 124 are formed.

[0042] Pyramidal protrusion 120, which is a protrusion in the shape of a quadrangular pyramid, is formed at the center position O' of first side surface 111. Strip-like protrusions 121-124, which are strip-like protrusions with triangular cross-sections, extend from pyramidal protrusion 120 toward the centers of the four sides 111A-111D, respectively.

[0043] The conical projection 120 and the stripe projections 121 to 124 are shaped so as to be able to fit into the first groove 21 and the second groove 22 in the multi-hand pad 1 described in the first embodiment.

[0044] Specifically, the first and third striated protrusions 121, 123 fit into the first groove 21, the second and fourth striated protrusions 122, 124 fit into the second groove 22, and the conical protrusion 120 fits into the intersection of the first groove 21 and the second groove 22 at the central position O of the multi-hand pad 1.

[0045] Similarly to the first side surface 111, a cone-shaped protrusion 130 and fifth to eighth stripe-shaped protrusions 125 to 128 are also formed on a second side surface 112, which is the side surface opposite to the first side surface 111.

[0046] Pyramidal protrusion 130, which is a protrusion in the shape of a quadrangular pyramid, is formed at the center position O2' of second side surface 112. Strip-like protrusions 125-128, which are strip-like protrusions with triangular cross-sections, extend from pyramidal protrusion 130 toward the centers of the four sides 112A-112D, respectively.

[0047] The conical projection 130 and the stripe projections 125 to 128 are shaped so as to be able to fit into the first groove 21 and the second groove 22 in the multi-hand pad 1 described in the first embodiment.

[0048] Specifically, the fifth and seventh striated protrusions 125, 127 fit into the first groove 21, the sixth and eighth striated protrusions 126, 128 fit into the second groove 22, and the conical protrusion 130 fits into the intersection of the first groove 21 and the second groove 22 at the central position O of the multi-hand pad 1.

[0049] Therefore, as described in Example 1, with the multi-hand pad 1 fixed to each of the claws 10A and 10B, the claws 10A and 10B are opened, and the first side 111 and the second side 112 of the double-sided tool pad 101 are clamped by fitting each groove into each protrusion, and the claws 10A and 10B are closed, thereby enabling the double-sided tool pad 101 to be grasped.

[0050] 10 and 11 show a double-sided tool pad 101′, which is a modified example of the double-sided tool pad 101. In the double-sided tool pad 101′, instead of the protrusions of the double-sided tool pad 101, ninth and tenth rib-like protrusions 131 and 132 are provided on the first side surface 111, and eleventh and twelfth rib-like protrusions 133 and 134 are provided on the second side surface 112, respectively.

[0051] The ninth streak-like protrusion 131 is a streak-like protrusion portion formed on the first side surface 111 from the center of one side 111A to the center of a side 111C parallel to the side 111, and has a triangular cross section.

[0052] The tenth streak-like protrusion 132 is a streak-like protrusion portion having a triangular cross section, which is formed on the first side surface 111 from the center of side 111B perpendicular to side 111A to the center of side 111D parallel to side 111B. The ninth streak-like protrusion 131 and the tenth streak-like protrusion 132 are perpendicular to each other at a central position O' of the first side surface 111.

[0053] The eleventh streak-like protrusion 133 is a streak-like protrusion portion formed on the second side surface 112 from the center of one side 112A to the center of a side 112C parallel to the side 112, and has a triangular cross section.

[0054] The twelfth streak-like protrusion 134 is a streak-like protrusion portion having a triangular cross section, which is formed on the second side surface 111 from the center of side 112B perpendicular to side 112A to the center of side 112D parallel to side 112B. The eleventh streak-like protrusion 133 and the twelfth streak-like protrusion 134 are perpendicular to each other at a central position O2′ of the first side surface 111.

[0055] In other words, the first side 111 and the second side 112 of the double-sided tool pad 101 (101') in this embodiment need only be shaped to fit with the front surface 11 of the multi-hand pad 1, and the shape of the present invention is not particularly limited.

[0056] As shown in FIGS. 7 and 8, the third side surface 113 has screw holes 141 to 144 formed therein, and the bottom surface 114 has screw holes 145 and 146 formed therein.

[0057] As a result, the double-sided tool pad 101 (101') according to this embodiment can be fixed to an object by abutting the third side surface 113 or the bottom surface 114 (i.e., a surface other than the first and second side surfaces 111 and 112) using screws (not shown). It may also be possible to fix the double-sided tool pad 101 (101') to an object by abutting the other side surface or the top surface. Hereinafter, these surfaces that abut against an object when fixed will be collectively referred to as fixing surfaces.

[0058] The material of the double-sided tool pad 101 (101') can be changed to suit the application, as long as it is metal, resin, ceramic, or the like and can be processed by cutting, polishing, wire cutting, or the like.

[0059] Regarding the method of using the robot arm using the double-sided tool pad of this embodiment, first, as a preliminary preparation, the double-sided tool pad 101 (101') is fixed by abutting the fixing surface against the object, and the two multi-hand pads 1 are fixed to the claws 10A and 10B of the gripper 10 as described in Example 1.

[0060] Then, by opening the gripper 10 (jaws 10A and 10B) and clamping the first side 111 and the second side 112 of the double-sided tool pad 101 (101') by fitting each groove into each protrusion, and then closing the gripper 10 (jaws 10A and 10B), the double-sided tool pad 101 can be grasped as shown in Figure 15, thereby allowing the object P (camera, etc.) to which the double-sided tool pad 101 (101') is attached to be lifted.

[0061] According to this embodiment, the object to be gripped by the claws 10A and 10B of the gripper 10 to which the multi-hand pad 1 is fixed is the double-sided tool pad 101 (101'), and the object is lifted by fixing this double-sided tool pad 101 (101') to the object, which makes it possible to grip the object more stably regardless of its shape than in embodiment 1. This allows the gripper 10 to grip objects of various shapes, such as an electric screwdriver, a welding torch, or an inspection camera.

[0062] According to this embodiment, by attaching the double-sided tool pad 101 (101') to a tool or a carrier tray, a series of processes from product pick-up, processing, inspection, tray loading, tray clearing, etc. can be performed by a single robot arm using only the robot program without the need for setup changes.

[0063] According to this embodiment, by fixing the double-sided tool pad 101 (101') to the suction jig, parts to be gripped by a robot arm and parts that require suction and transport can be handled without changeover (usually, an expensive robot tool changer is required, and a hand must be prepared for each application). This allows for cost reduction.

[0064] Furthermore, according to this embodiment, by changing the size and thickness of the double-sided tool pad 101 (101'), it is possible to accommodate robot arms of various sizes.

[0065] [Example 3] The single-sided tool pad 201 according to this embodiment is used in combination with the multi-hand pad group according to the first embodiment.

[0066] As shown in FIGS. 12 to 14, the single-sided tool pad 201 has a substantially rectangular parallelepiped shape, and a first side surface 211 is formed with a cone-shaped protrusion 220 and thirteenth to sixteenth stripe-shaped protrusions 221 to 224.

[0067] Pyramidal protrusion 220, which is a protrusion in the shape of a quadrangular pyramid, is formed at center position O'' of first side surface 211. Strip-like protrusions 221-224, which are strip-like protrusions with triangular cross-sections, extend from pyramidal protrusion 220 toward the centers of the four sides 211A-211D, respectively.

[0068] The conical projection 220 and the stripe projections 221 to 224 are shaped so as to be able to fit into the first groove 21 and the second groove 22 in the multi-hand pad 1 described in the first embodiment.

[0069] Specifically, the first and third striated protrusions 221, 223 fit into the first groove 21, the second and fourth striated protrusions 222, 224 fit into the second groove 22, and the conical protrusion 220 fits into the intersection of the first groove 21 and the second groove 22 at the central position O of the multi-hand pad 1.

[0070] Furthermore, the second side surface 212 of the single-sided tool pad 201, which is the side surface opposite to the first side surface 211, is not provided with any protrusions or the like and is a flat surface.

[0071] Therefore, as described in Example 1, with the multi-hand pad 1 fixed to each of the claws 10A and 10B, the gripper 10 (claws 10A and 10B) is opened, and each groove portion of one multi-hand pad 1 is engaged with each protrusion portion of the first side surface 211 of the single-sided tool pad 201, and the gripper 10 (claws 10A and 10B) is closed so that the first side surface 211 and the second side surface 212 are sandwiched between them, thereby making it possible to grasp the single-sided tool pad 201 (the second side surface 212, which is a flat surface, is not engaged with the groove portion of the other multi-hand pad 1).

[0072] However, as explained in Figure 11 of Example 2 regarding the double-sided tool pad 101', which is a modified example of the double-sided tool pad 101, the first side 211 of the single-sided tool pad 201 of this example also needs to be shaped so that it fits with the front surface 11 of the multi-hand pad 1, and the shape of the present invention is not particularly limited.

[0073] 12, screw holes 241 to 244 are formed so as to penetrate from the first side surface 211 to the second side surface 222. The screw holes 241 to 244 are preferably formed at positions that do not overlap with the respective protrusions.

[0074] As a result, the single-sided tool pad 201 according to this embodiment can be fixed to an object by abutting the second side surface 212 using a screw (not shown). The object here is assumed to be a thin plate.

[0075] The material of the single-sided tool pad 201 can be changed to suit the application, as long as it is metal, resin, ceramic, or the like and can be processed by cutting, polishing, wire cutting, or the like.

[0076] Regarding the method of using the robot arm using the single-sided tool pad of this embodiment, first, as a preliminary preparation, the second side 212 is abutted against the object to fix the single-sided tool pad 201, and the two multi-hand pads 1 are fixed to the claws 10A and 10B of the gripper 10 as described in Example 1.

[0077] Then, by opening the gripper 10 (jaws 10A and 10B) and engaging each groove of one of the multi-hand pads 1 with each protrusion of the first side 211 of the single-sided tool pad 201, and then closing the gripper 10 (jaws 10A and 10B) so as to clamp an object fixed to the first side 211 and the second side 212, the single-sided tool pad 201 and object P2 can be grasped and object P2 can be lifted as shown in Figure 16.

[0078] Another method of using a robot arm using the single-sided tool pad according to this embodiment will now be described, which is preferably applied when the target object is large or heavy.

[0079] First, as a preliminary preparation, two single-sided tool pads 201 are prepared (these are referred to as a single-sided tool pad group according to this embodiment). One of the single-sided tool pads 201 is fixed to the object by abutting its second side surface 212 against one surface of the object. The other single-sided tool pad 201 is fixed to the object by abutting its second side surface 212 against the surface of the object opposite to the one surface.

[0080] Furthermore, as explained in the first embodiment, the two multi-hand pads 1 are fixed to the claws 10A and 10B of the gripper 10.

[0081] Then, by opening the gripper 10 (jaws 10A and 10B) and engaging each groove of one multi-hand pad 1 with each protrusion of the first side 211 of one single-sided tool pad 201, and by engaging each groove of the other multi-hand pad 1 with each protrusion of the first side 211 of the other single-sided tool pad 201, and then closing the gripper 10 (jaws 10A and 10B) so as to sandwich the two single-sided tool pads 201 and the object fixed to their center, the two single-sided tool pads 201 and the object P3 can be grasped and the object P3 can be lifted, as shown in Figure 17.

[0082] The single-sided tool pad group according to this embodiment includes two or more single-sided tool pads 201, and the number of single-sided tool pads 201 to be used may be changed depending on the situation.

[0083] According to this embodiment, it is possible to improve versatility compared to the second embodiment.

[0084] The multi-hand pad, multi-hand pad group, double-sided tool pad, single-sided tool pad, and single-sided tool pad group according to the present invention, which have been described above using the respective embodiments, are most suitable as attachments for use with robot arms. However, the multi-hand pad and multi-hand pad group according to the present invention may also be attached to the gripping portion of various gripping devices other than robot arms. In other words, the multi-hand pad 1 may be a multi-hand pad fixed to the gripping portion of various gripping devices, and may include a front surface 11 on which intersecting first and second grooves 21 and 22 are formed, and a back surface 12 opposite the front surface 11, and may be fixed so that the back surface 12 abuts against the gripping portion. [Industrial Applicability]

[0085] The present invention is suitable as an attachment to be provided on a robot arm. [Explanation of symbols]

[0086] 1 Multi-Hand Pad 10 Gripper 10A, 10B Claws 10C rail 11 Front Area 11A~11D 12 Back 21 First Groove 22 Second Groove 23~26, 51~58, 61~68 screw holes 101,101' Double-sided Tool Pad 111 First Aspect 111A~111D, 112A~112D area 112 The Second Aspect 113 The Third Aspect 114 bottom 120,130 Cone-shaped projection 121~128,131~134 Muscular projection 141~144 screw holes 201 Single-sided Tool Pad 211 First Aspect 212 Second Aspect 220 Cone-like projection 221~224 Muscle-like protrusion 241~244 screw holes

Claims

1. A multi-hand pad fixed to the jaws of a gripper in a robot arm, a front surface on which a first groove and a second groove that intersect with each other are formed; a back surface that is the surface opposite to the front surface, The back surface is fixed in place so as to abut against the claw. a multi-hand pad; a first side surface on which a protrusion capable of fitting into the first groove and the second groove of the multi-hand pad is formed; a second side surface opposite to the first side surface, the second side surface having the protrusion formed thereon; and a fixing surface that can be fixed to an object. a double-sided tool pad; A set of multi-hand pads and double-sided tool pads.

2. A multi-hand pad fixed to a gripping portion of a gripping tool, a front surface on which a first groove and a second groove that intersect with each other are formed; a back surface that is the surface opposite to the front surface, The back surface is fixed to the grip portion so as to abut against the grip portion. A multi-hand pad characterized by a first side surface on which a protrusion capable of fitting into the first groove and the second groove of the multi-hand pad is formed; a second side surface opposite to the first side surface, the second side surface having the protrusion formed thereon; and a fixing surface that can be fixed to an object. a double-sided tool pad; A set of multi-hand pads and double-sided tool pads.

3. The first groove and the second groove are formed so as to intersect at right angles at a central position on the front surface.

3. A set of a multi-hand pad and a double-sided tool pad according to claim 1 or 2.

4. The hand-held device includes two or more multi-hand pads according to any one of claims 1 to 3. A set of a multi-hand pad or a group of multi-hand pads and a double-sided tool pad.

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