Gripping device, gripping robot, gripping device control method, and gripping device control program

Abstract

To provide a gripping device capable of changing the attitude of a gripped object with a simple structure.SOLUTION: This gripping device comprises: first and second gripping claws; and interval control means for controlling an interval between both the gripping claws. The first and second gripping claws are respectively supported on first and second shafts so as to be rotatable. The center axes of the first and second shafts coincide with a first center axis. The first shaft is supported on a first support, and the second shaft is supported on a second support. A first slip resistance member is disposed between the first support and the first gripping claw, and a second slip resistance member is disposed between the second support and the second gripping claw. The first and second gripping claws are arranged so as not to coincide at the centers of gravity with the first center axis. When an object is gripped by the first and second gripping claws, the first slip resistance member is held between the first support and the first gripping claw, and the second slip resistance member is held between the second support and the second gripping claw.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a gripping device and the like. [Background technology]

[0002] Industrial robots equipped with gripping devices are widely used in industrial production sites. These gripping devices are designed to grip objects. Recently, production sites have been shifting from small-variety, large-volume production to small-variety, large-volume production, and even to variable-variety, variable-volume production. Accordingly, gripping devices are being required to grip objects in various positions and place them in different positions.

[0003] As described above, a gripping device capable of picking up and placing objects in various positions is disclosed in, for example, Patent Document 1. This gripping device has a pair of slide units and a support unit. Each of the slide units slides toward or away from each other along a slide axis. The support unit is fixed to each of the slide units. This gripping device further has a spline shaft parallel to the slide axis and a rotation servo motor that rotates the spline shaft about its axis. It also has a rotating unit and multiple gripping jaws. The rotating unit is attached to the tip of the support unit and is rotatable about a rotation axis parallel to the slide axis in response to the rotation of the spline shaft. The multiple gripping jaws are attached perpendicular to the rotation axis and oriented in different directions. This gripping device also rotates the gripping jaws in response to the rotation of the spline shaft through a combination of multiple pulleys and belts. This allows the angle of the gripping claws to be changed, making it possible to accommodate picking up and placing of objects with different postures.In addition, by switching between multiple gripping claws, it is possible to select the gripping claw that is most suitable for the object. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-236258 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the technology of Patent Document 1, the gripping jaws are rotated by a pulley and a belt, which results in a large number of parts and a complicated configuration.

[0006] The present invention has been made in view of the above problems, and aims to provide a gripping device or the like that is capable of changing the posture of a gripped object with a simple configuration. [Means for solving the problem]

[0007] In order to solve the above-mentioned problems, a gripping device of the present invention includes a first shaft, a first support part that supports the first shaft, a first gripping claw that is supported by the first shaft so as to be rotatable around a first central axis that is the central axis of the first shaft, a first anti-slip member that is disposed on the outer periphery of the first shaft between the first support part and the first gripping claw, a second shaft that is disposed so that its central axis coincides with the first central axis, a second support part that supports the second shaft, a second gripping claw that is supported by the second shaft so as to be rotatable around the first central axis, and a second anti-slip member that is disposed between the second support part and the second gripping claw and the second shaft. and a distance control means for supporting the first support portion and the second support portion so that the first gripping claw and the second gripping claw face each other and for controlling the distance between the first gripping claw and the second gripping claw, wherein the centers of gravity of the first gripping claw and the second gripping claw are arranged so as not to coincide with the first central axis, and when an object is gripped by the first gripping claw and the second gripping claw, the first anti-slip member is sandwiched between the first support portion and the first gripping claw, and the second anti-slip member is sandwiched between the second support portion and the second gripping claw.

[0008] A gripping robot of the present invention includes the above-described gripping device, a robot arm that controls the position and rotation of the gripping device, and a control unit that controls the gripping device and the robot arm.

[0009] A method for controlling a gripping device of the present invention is a method for controlling a gripping device having a first support part that supports a first gripping claw, a second support part that supports a second gripping claw, and a distance control means that controls the distance between the first gripping claw and the second gripping claw, wherein the gripping device includes a first shaft, a first support part that supports the first shaft, a first gripping claw supported on the first shaft so as to be rotatable around a first central axis that is the central axis of the first shaft, a first anti-slip member that is disposed between the first support part and the first gripping claw and on the outer periphery of the first shaft, a second shaft that is disposed so as to have a central axis that coincides with the first central axis, a second support part that supports the second shaft, a second gripping claw supported on the second shaft so as to be rotatable around the first central axis, and a second anti-slip member that is disposed between the second support part and the second gripping claw and on the outer periphery of the second shaft. and a distance control means for supporting the first support portion and the second support portion so that the first gripping claw and the second gripping claw face each other and for controlling the distance between the first gripping claw and the second gripping claw, wherein the center of gravity of the first gripping claw and the center of gravity of the second gripping claw are arranged so as not to coincide with the first central axis, and when an object is gripped by the first gripping claw and the second gripping claw, the first anti-slip member is sandwiched between the first support portion and the first gripping claw, and the second anti-slip member is sandwiched between the second support portion and the second gripping claw, and when the first gripping claw and the second gripping claw are not gripping an object, the first support portion and the second support portion are controlled to a predetermined angle, the distance between the first gripping claw and the second gripping claw is controlled, and the object is gripped by the first gripping claw and the second gripping claw.

[0010] Further, a control program for a gripping device of the present invention is a control program for a gripping device having a first support part that supports a first gripping claw, a second support part that supports a second gripping claw, and a distance control means that controls a distance between the first gripping claw and the second gripping claw, wherein the gripping device includes a first shaft, a first support part that supports the first shaft, a first gripping claw supported on the first shaft so as to be rotatable around a first central axis that is a central axis of the first shaft, a first anti-slip member that is disposed between the first support part and the first gripping claw and on an outer periphery of the first shaft, a second shaft that is disposed so as to have a central axis that coincides with the first central axis, a second support part that supports the second shaft, a second gripping claw supported on the second shaft so as to be rotatable around the first central axis, a second anti-slip member that is disposed between the second support part and the second gripping claw and on an outer periphery of the second shaft, and the first a distance control means for supporting the first support portion and the second support portion so that the gripping claw and the second gripping claw face each other and for controlling the distance between the first gripping claw and the second gripping claw, wherein the centers of gravity of the first gripping claw and the second gripping claw are arranged so as not to coincide with the first central axis, and when the first gripping claw and the second gripping claw grip an object, the first anti-slip member and the second anti-slip member is sandwiched between the second support portion and the second gripping claw, and the computer executes the steps of: controlling the first support portion and the second support portion to a predetermined angle when the first gripping claw and the second gripping claw are not gripping an object; and controlling the distance between the first gripping claw and the second gripping claw to grip the object with the first gripping claw and the second gripping claw. [Effects of the Invention]

[0011] The effect of the present invention is to provide a gripping device or the like that can change the posture of a gripped object with a simple configuration. [Brief explanation of the drawings]

[0012] [Figure 1]1 is a front view showing a configuration of a gripping device according to a first embodiment of the present invention. [Figure 2] 1 is a side view showing a schematic configuration of a gripping device according to a first embodiment of the present invention. [Figure 3] 1 is a cross-sectional view showing a configuration of a gripping device according to a first embodiment of the present invention. [Figure 4] 1 is a front view showing a specific example of the configuration of a gripping device according to a first embodiment of the present invention. [Figure 5] 1 is a perspective view showing a first state of the configuration of a gripping device according to a first embodiment of the present invention. [Figure 6] FIG. 4 is a perspective view showing a second state of operation of the gripping device according to the first embodiment of the present invention. [Figure 7] FIG. 4 is a perspective view showing a third state of operation of the gripping device according to the first embodiment of the present invention. [Figure 8] 1 is a block diagram showing the configuration of a gripping robot according to a first embodiment of the present invention. [Figure 9] 3A to 3C are schematic diagrams illustrating a first state of an example of operation of the gripping robot according to the first embodiment of the present invention. [Figure 10] FIG. 4 is a schematic diagram showing a second state of the operation example of the gripping robot according to the first embodiment of the present invention. [Figure 11] FIG. 4 is a schematic diagram showing a third state of the operation example of the gripping robot according to the first embodiment of the present invention. [Figure 12] FIG. 10 is a schematic diagram showing a fourth state of the operation example of the gripping robot according to the first embodiment of the present invention. [Figure 13] FIG. 10 is a schematic diagram showing a fifth state of the operation example of the gripping robot according to the first embodiment of the present invention. [Figure 14] 4 is a flowchart of an example of the operation of the gripping robot according to the first embodiment of the present invention. [Figure 15] 1 is a plan view showing a first example of an anti-slip member according to a first embodiment of the present invention. [Figure 16] FIG. 3 is a plan view showing a second example of the anti-slip member according to the first embodiment of the present invention. [Figure 17] FIG. 3 is a plan view showing a third example of the anti-slip member according to the first embodiment of the present invention. [Figure 18] FIG. 10 is a front view showing a specific example of the configuration of a gripping device according to a second embodiment of the present invention. [Figure 19] FIG. 10 is a front view showing a first state of operation of the gripping device according to the second embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. However, the embodiments described below are limited to technically preferable aspects for carrying out the present invention, but are not intended to limit the scope of the invention. Note that similar components in each drawing are given the same reference numerals, and their description may be omitted.

[0014] (First embodiment) FIG. 1 is a schematic front view showing the configuration of a gripping device 100 according to a first embodiment of the present invention. FIG. 2 is a schematic side view showing the configuration of the gripping device 100 according to the first embodiment of the present invention. FIG. 3 is a schematic cross-sectional view showing the configuration of the gripping device 100 according to the first embodiment of the present invention. The gripping device 100 includes a first shaft 11, a first support portion 12, a first gripping claw 13, a first anti-slip member 14, a second shaft 21, a second support portion 22, a second gripping claw 23, and a second anti-slip member 24. The gripping device 100 also includes a distance control means 30 that controls the distance between the first gripping claw 13 and the second gripping claw 23. Note that the description will be made using a coordinate system in FIG. 1, in which the direction from the first support portion 12 to the second support portion 22 is the X-axis, the direction perpendicular to the plane of the drawing is the Y-axis, and the vertical direction in the drawing is the Z-axis.

[0015] The first support portion 12 supports the first shaft 11 .

[0016] The first gripping claws 13 are supported by the first shaft 11 so as to be rotatable around a first central axis C, which is the central axis of the first shaft 11. As shown in Fig. 3, for example, by supporting the first shaft 11 on the first support portion 12 by a bearing 12a, the first gripping claws 13 can be supported so as to be rotatable around the first central axis C. Although not shown, it is also possible to provide a bearing in the first gripping claws 13 so that the first gripping claws 13 can rotate relative to the first shaft 11.

[0017] The first anti-slip member 14 is disposed on the outer periphery of the first shaft 11, between the first support portion 12 and the first gripping claw 13. Although FIG. 1 shows a gap between the first support portion 12 and the first anti-slip member 14, for example, the first anti-slip member 14 may be in contact with the first support portion 12. However, the first anti-slip member 14 is not subjected to pressure in the compressive direction.

[0018] The second shaft 21 is disposed so that its central axis coincides with the first central axis C.

[0019] The second support portion 22 supports the second shaft 21 .

[0020] The second gripping claws 23 are supported by the second shaft 21 so as to be rotatable around the first central axis C. That is, the central axis of the second shaft 21 and the central axis of the first shaft 11 overlap each other and coincide with the first central axis C. As shown in FIG. 3 , for example, by supporting the second shaft 21 on the second support portion 22 by a bearing 22a, the second gripping claws 23 can be supported so as to be rotatable around the first central axis C. Although not shown, it is also possible to provide a bearing in the second gripping claws 23 so that the second gripping claws 23 can rotate relative to the second shaft 21.

[0021] The second anti-slip member 24 is between the second support portion 22 and the second gripping claw 23. ThatThe second anti-slip member 24 is disposed on the outer periphery of the second shaft 21. In Fig. 1, the second support portion 22 and the second anti-slip member 24 are depicted as having a gap therebetween, but for example, the second anti-slip member 24 may be in contact with the second support portion 22. However, the second anti-slip member 24 is not subjected to pressure in the compressive direction.

[0022] The distance control means 30 supports the first support portion 12 and the second support portion 22 so that the first gripping jaw 13 and the second gripping jaw 23 face each other, and controls the distance between the first gripping jaw 13 and the second gripping jaw 23. The distance control means 30 is fixed to the robot arm 200. The robot arm 200 can control the position of the gripping device 100 three-dimensionally. The robot arm 200 can also rotate around the Z axis in FIG. 1.

[0023] The first center of gravity G1 of the first gripping jaw 13 and the second center of gravity G2 of the second gripping jaw 23 are arranged so as not to coincide with the first central axis C. The first center of gravity G1 is the center of gravity of the first gripping jaw 13. The second center of gravity G2 is the center of gravity of the second gripping jaw 23.

[0024] Furthermore, when an object is grasped with the first grasping claw 13 and the second grasping claw 23, the first anti-slip member 14 is clamped between the first support portion 12 and the first grasping claw 13, and the second anti-slip member 24 is clamped between the second support portion 22 and the second grasping claw 23.

[0025] When an object is gripped by the first gripping claw 13 and the second gripping claw 23 under the control of the distance control means 30, a force acts on the first gripping claw 13 in a direction that moves it closer to the first support portion 12. This force causes the first anti-slip member 14 to be clamped between the first support portion 12 and the first gripping claw 13. As a result, the rotation of the first gripping claw 13 is locked, and the angle between the first gripping claw 13 and the first support portion is fixed. Similarly, when an object is gripped by the first gripping claw 13 and the second gripping claw 23 under the control of the distance control means 30, a force acts on the second gripping claw 23 in a direction that moves it closer to the second support portion 22. This force causes the second anti-slip member 24 to be clamped between the second support portion 22 and the second gripping claw 23. As a result, the rotation of the second gripping claw 23 is locked, and the angle formed between the second gripping claw 23 and the second support portion is fixed.

[0026] In the above configuration, when the first gripping claw 13 and the second gripping claw 23 are not gripping (clamping) an object, the first gripping claw 13 and the second gripping claw 23 are not prevented from rotating. The first center of gravity G1 and the second center of gravity G2 are disposed so as to be offset from the first central axis C. Therefore, the tip of the first gripping claw 13 on the side of the first center of gravity G1 faces downward (in the -Z direction) due to the action of gravity. Similarly, the tip of the second gripping claw 23 on the side of the second center of gravity G2 faces downward.

[0027] On the other hand, the orientation of the distance control means 30 that supports the first support unit 12 and the second support unit 22 can be set to any orientation by controlling the robot arm 200 (not shown). Therefore, by controlling the robot arm 200, the angle between the first support unit 12 and the first gripping jaw 13 and the angle between the second support unit 22 and the second gripping jaw 23 can be controlled to desired values. Then, when the first gripping jaw 13 and the second gripping jaw 23 grip an object from this state, the gripping device 100 can transport the object while fixing the angle between the first support unit 12 and the first gripping jaw 13 and the angle between the second support unit 22 and the second gripping jaw 23. In this state, the gripping device 100 can control the object to a desired posture by controlling the robot arm 200.

[0028] Next, a specific configuration and an example of operation of the gripping device 100 will be described. FIG. 4 is a front view showing a specific example of the configuration of the gripping robot according to the first embodiment of the present invention. The basic configuration is similar to that of the gripping device 100 in FIG. 1. The distance control means 30 can be, for example, a slider using a linear motor or a ball screw. The distance control means 30 is fixed to a base 40, and the base 40 is supported by a robot arm 200 via a flange 210. The other configuration is similar to that in FIG. 1, so a description thereof will be omitted.

[0029] Fig. 5 is a perspective view showing a first state of the configuration of the gripping device according to the first embodiment of the present invention. Fig. 5 shows a state in which the first support portion 12 and the second support portion 22 face downward (in the -Z direction), and the first gripping claw 13 and the second gripping claw 23 are not gripping an object. In this state, the rotation of the first gripping claw 13 and the second gripping claw 23 is not impeded, and therefore, due to the action of gravity, the tip of the first gripping claw 13 and the tip of the second gripping claw 23 each face downward (in the -Z direction).

[0030] Fig. 6 is a perspective view showing a second state of operation of the gripping device of the first embodiment of the present invention. In Fig. 6, the orientation of the robot arm 200 is changed, causing the first support unit 12 and the second support unit 22 to tilt from the Z direction. In this state, the rotation of the first gripping jaw 13 and the second gripping jaw 23 is not hindered, and therefore, due to the action of gravity, the tips of the first gripping jaw 13 and the second gripping jaw 23 each point downward (in the -Z direction).

[0031] 7 is a perspective view showing a third state of operation of the gripping device according to the first embodiment of the present invention. Starting from the state shown in FIG. 6, FIG. 7 shows a state in which the first gripping jaw 13 and the second gripping jaw 23 grip the object 2000. As described above, by gripping the object 2000, the angle between the first support portion 12 and the first gripping jaw 13 and the angle between the second support portion 22 and the second gripping jaw 23 are locked. Therefore, by controlling the orientation of the robot arm 200 from this state, the object 2000 can be held in a desired posture.

[0032] Next, a specific example of the operation of a gripping robot 1000 equipped with a gripping device 100 will be described. Fig. 8 is a block diagram showing the configuration of the gripping robot 1000 according to the first embodiment of the present invention. The gripping robot 1000 has the gripping device 100, a robot arm 200 that controls the position and rotation of the gripping device, and a control unit 300 that controls the gripping device 100 and the robot arm 200.

[0033] Next, an example of the operation of the gripping robot 1000 will be described. Below, an example of the operation (place) in which the gripping robot 1000 picks up the object 2000 to grip it and places the object 2000 on the placement surface 3000 will be described. FIG. 9 is a schematic diagram showing a first state of the example of the operation of the gripping robot of the first embodiment of the present invention. The robot arm 200 and the second support part 22 are parallel to the Y axis. The gripping device 100 is not gripping the object 2000. Therefore, the second gripping claws 23 can rotate freely, and the tip thereof faces downward (in the -Z direction) due to the action of gravity.

[0034] 10 is a schematic diagram showing a second state of an operation example of the gripping robot 1000 according to the first embodiment of the present invention. This shows a state in which the robot arm 200 approaches the object 2000. The gripping device 100 has not yet gripped the object 2000. Therefore, the second gripping jaw 23 remains facing downward.

[0035] FIG. 11 is a schematic diagram showing a third state of the operation example of the gripping robot 1000 according to the first embodiment of the present invention. FIG. 11 shows a state in which the gripping device 100 has gripped the object 2000, starting from the state shown in FIG. 10 . The gripping device 100 grips the object 2000 with the first gripping claw 13 and the second gripping claw 23 facing downward. By gripping the object 2000, the rotation of the first gripping claw 13 and the second gripping claw 23 is locked. FIG. 12 is a schematic diagram showing a fourth state of the operation example of the gripping robot 1000 according to the first embodiment of the present invention. FIG. 12 shows a state in which the robot arm 200 is moving the object 2000 by changing its direction. Because the rotation of the first gripping claw 13 and the second gripping claw 23 is locked, the object 2000 is in a posture corresponding to the movement of the robot arm 200.

[0036] FIG. 13 is a schematic diagram showing a fifth state of an example of the operation of the gripping robot according to the first embodiment of the present invention. FIG. 13 shows a state in which the gripping robot 1000 has carried the object 2000 to the placement surface 3000. At this position, the distance between the first gripping jaw 13 and the second gripping jaw 23 is widened, and the gripping device 100 releases its grip on the object 2000, thereby placing the object 2000 on the placement surface 3000. While the above description is of an example in which the surface on which the object 2000 is initially placed and the placement surface 3000 are both horizontal, this is not limiting. The object 2000 may be placed on an inclined surface, or the placement surface 3000 may be tilted from the horizontal. Furthermore, the placement surface 3000 may not be flat, but may be part of a product being assembled. When the gripping robot 1000 grips the object 2000, the angle between the first support part 12 and the first gripping claw 13, and the angle between the second support part 22 and the second gripping claw 23 can be set appropriately depending on the conditions of the above-mentioned placement surface, etc.

[0037] Next, the operation of the gripping robot 1000, an example of which is shown above, will be described. FIG. 14 is a flowchart of an operation example of the gripping robot according to the first embodiment of the present invention. First, while the gripping device 100 is not gripping the object 2000, the control unit 300 controls the orientation of the robot arm 200 (S1). In this control, the tip of the first gripping claw 13 and the tip of the second gripping claw 23 face downward due to the action of gravity (S2). Next, the control unit 300 controls the robot arm 200 to move the gripping device 100 to the position of the object 2000, and have the first gripping claw 13 and the second gripping claw 23 grip the object 2000 (S3). When the object 2000 is grasped by the first gripping jaw 13 and the second gripping jaw 23, the angle between the first support part and the first gripping jaw, and the angle between the second support part and the second gripping jaw are fixed. The robot arm 200 moves the object 2000 while maintaining this angle (S4). The robot arm 200 then places the object 2000 on the target placement surface 3000 (S5). At this position, the gripping device 100, under the control of the control unit 300, widens the distance between the first gripping jaw 13 and the second gripping jaw 23 and releases its grip on the object 2000 (S6). Through the above operations, the gripping robot 1000 can grasp the object 2000 in a desired orientation and place it on the placement surface in the desired orientation.

[0038] Next, specific examples of the first anti-slip member 14 and the second anti-slip member 24 will be described. FIG. 15 is a plan view showing a first example of an anti-slip member according to the first embodiment of the present invention. In the example shown in FIG. 15, the first anti-slip member 14a is disposed on the first gripping claw 13. The first gripping claw 13 has a shaft hole 13a formed therein for attachment to the first shaft 11. The first anti-slip member 14a is formed in a ring shape around the shaft hole 13a. The first anti-slip member 14a is made of a high-friction material having a high coefficient of friction with the first support portion 12. Specifically, the first anti-slip member 14a may be made of a material containing rubber. The first anti-slip member 14a can be fixed to the first gripping claw 13, but it may also be configured not to be fixed to either the first support portion 12 or the first gripping claw 13 as long as it is engaged with the first shaft 11. The second anti-slip member 24 can also be configured in the same manner as the first anti-slip member 14a.

[0039] Fig. 16 is a plan view showing a second example of the anti-slip member according to the first embodiment of the present invention. The first anti-slip member 14b in the example of Fig. 16 is divided into a plurality of pieces and arranged around the shaft hole 13a. The first anti-slip member 14b can be made of the same high-friction material as the first anti-slip member 14a. The second anti-slip member 24 can also have the same configuration as the first anti-slip member 14b.

[0040] FIG. 17 is a plan view showing a third example of the anti-slip member of the first embodiment of the present invention. The anti-slip member of the third example is composed of a pair of plate-like members 14c. The pair of plate-like members 14c is formed by a pair of plate-like members having interlocking concave and convex portions. In the example of FIG. 17, one of the pair of plate-like members 14c is arranged around the axial hole 12b of the first support part 12, and the other of the pair of plate-like members 14c is arranged around the axial hole 13a of the first gripping claw 13. The pair of plate-like members 14c are not interlocked when the gripping device 100 is not gripping the object 2000, and are not interlocked when the gripping device 100 is not gripping the object 2000. ofIn the gripping state, they interlock. This allows the pair of plate-like members 14c to lock the angle between the first support portion 12 and the first gripping claw 13. The above explanation has been given for the combination of the first support portion 12 and the first gripping claw 13, but it can also be applied to the combination of the second support portion 22 and the second gripping claw 23 in the same way.

[0041] The gripping device 100 and the like according to the first embodiment have been described above.

[0042] The gripping device 100 includes a first shaft 11, a first support 12, a first gripping claw 13, a first anti-slip member 14, a second shaft 21, a second support 22, a second gripping claw 23, and a second anti-slip member 24. The gripping device 100 also includes a distance control means 30 that controls the distance between the first gripping claw 13 and the second gripping claw 23. The first support 12 supports the first shaft 11. The first gripping claw 13 is supported by the first shaft 11 so as to be rotatable about a first central axis C, which is the central axis of the first shaft 11. Because the first gripping claw 13 and the second gripping claw 23 can rotate, the angle between the first support 12 and the first gripping claw 13 and the angle between the second support 22 and the second gripping claw 23 can be changed. The first anti-slip member 14 is disposed on the outer periphery of the first shaft 11 between the first support portion 12 and the first gripping claw 13. The second shaft 21 is disposed so that its central axis coincides with the first central axis C. This allows the central axes of the first shaft 11 and the second shaft 21 to be disposed so that they overlap with each other, with the central axis being the first central axis C. The second support portion 22 supports the second shaft 21. The second gripping claw 23 is supported by the second shaft 21 so as to be rotatable around the first central axis C. The second anti-slip member 24 is disposed on the outer periphery of the second shaft 21 between the second support portion 22 and the second gripping claw 23. The distance control means 30 supports the first support portion 12 and the second support portion 22 so that the first gripping claw 13 and the second gripping claw 23 face each other, and controls the distance between the first gripping claw 13 and the second gripping claw 23. By controlling the distance between the first gripping claw 13 and the second gripping claw 23, the object 2000 can be gripped or released. The first center of gravity G1 of the first gripping claw 13 and the second center of gravity G2 of the second gripping claw 23 are arranged so as not to coincide with the first central axis C. In this manner, when the gripping device 100 is not gripping the object 2000, the action of gravity can cause the tip of the first gripping claw 13 and the tip of the second gripping claw 23 to face the direction of gravity. Furthermore, when an object is grasped with the first grasping claw 13 and the second grasping claw 23, the first anti-slip member 14 is clamped between the first support portion 12 and the first grasping claw 13, and the second anti-slip member 24 is clamped between the second support portion 22 and the second grasping claw 23.With this configuration, when the gripping device 100 grips the object 2000, the angle between the first support portion 12 and the first gripping claw 13 and the angle between the second support portion 22 and the second gripping claw 23 can be maintained.

[0043] According to one embodiment, at least one of the first anti-slip member 14 and the second anti-slip member 24 of the gripping device 100 can be configured to include rubber. By including rubber in the first anti-slip member 14, the frictional force between the first anti-slip member 14 and the first support part 12 and the frictional force between the first anti-slip member 14 and the first gripping claw 13 are increased. As a result, when gripping the object 2000, it becomes easier to maintain the angle between the first support part 12 and the first gripping claw 13. Similarly, it becomes easier to maintain the angle between the second support part 22 and the second gripping claw 23.

[0044] According to another embodiment, at least one of the first anti-slip member 14 and the second anti-slip member 24 of the gripping device 100 is a pair of plate-shaped members 14c having concave and convex portions that interlock at multiple rotation angles. One of the pair of plate-shaped members 14c is attached to the first gripping claw 13 or the second gripping claw 23, and the other of the pair of plate-shaped members 14c is attached to the first support portion 12 or the second support portion 22 so as to interlock with one of the pair of plate-shaped members 14c. When the first gripping claw 13 and the second gripping claw 23 grip the object 2000, the interlocking of the pair of plate-shaped members 14c makes it easy to maintain the angle between the first support portion 12 and the first gripping claw 13. Similarly, it is easy to maintain the angle between the second support portion 22 and the second gripping claw 23.

[0045] The gripping robot 1000 of this embodiment includes a gripping device 100, a robot arm 200 that controls the position and rotation of the gripping device 100, and a control unit that controls the gripping device 100 and the robot arm 200. By controlling the robot arm 200, the angle between the first support 12 and the first gripping jaw 13 and the angle between the second support 22 and the second gripping jaw 23 can be controlled to desired values. When an object is gripped by the first gripping jaw 13 and the second gripping jaw 23 from this state, the object can be transported with the angle between the first support 12 and the first gripping jaw 13 and the angle between the second support 22 and the second gripping jaw 23 fixed. Furthermore, with the above-mentioned angles fixed, the robot arm 200 can control the object 2000 to a desired posture under the control of the control unit 300, and place it on a placement surface 3000.

[0046] Furthermore, the gripping device control method of this embodiment controls a gripping device 100 having a first support portion 12 that supports the first gripping claw 13, a second support portion 22 that supports the second gripping claw 23, and a distance control means 30 that controls the distance between the first gripping claw 13 and the second gripping claw 23. The gripping device 100 controlled by this gripping device control method has a first shaft 11, the first support portion 12, the first gripping claw 13, a first anti-slip member 14, a second shaft 21, the second support portion 22, the second gripping claw 23, and a second anti-slip member 24. The first support portion 12 supports the first shaft 11. The first gripping claw 13 is supported by the first shaft 11 so as to be rotatable around a first central axis C that is the central axis of the first shaft 11. The first anti-slip member 14 is disposed on the outer periphery of the first shaft 11 between the first support portion 12 and the first gripping claw 13. The second shaft 21 is disposed so that its central axis coincides with the first central axis C. This allows the central axes of the first shaft 11 and the second shaft 21 to be disposed so that they overlap with each other, with the central axis being the first central axis C. The second support portion 22 supports the second shaft 21. The second gripping claw 23 is supported by the second shaft 21 so as to be rotatable around the first central axis C. The second anti-slip member 24 is disposed on the outer periphery of the second shaft 21 between the second support portion 22 and the second gripping claw 23. The distance control means 30 supports the first support portion 12 and the second support portion 22 so that the first gripping claw 13 and the second gripping claw 23 face each other, and controls the distance between the first gripping claw 13 and the second gripping claw 23. The first center of gravity G1 of the first gripping claw 13 and the second center of gravity G2 of the second gripping claw 23 are arranged so as not to coincide with the first central axis C. When the first gripping claw 13 and the second gripping claw 23 grip an object, the first anti-slip member 14 is sandwiched between the first support portion 12 and the first gripping claw 13, and the second anti-slip member 24 is sandwiched between the second support portion 22 and the second gripping claw 23. The control method for the gripping device of this embodiment controls the first support part 12 and the second support part 22 to a predetermined angle when the first gripping claw 13 and the second gripping claw 23 are not gripping an object. Furthermore, the distance between the first gripping claw 13 and the second gripping claw 23 is controlled, and the first gripping claw 13 and the second gripping claw 23 grip the object 2000.In the above configuration, the control unit 300 can control the angle between the first support unit 12 and the first gripping jaw 13 and the angle between the second support unit 22 and the second gripping jaw 23 to desired values ​​by controlling the robot arm 200. As a result, the first gripping jaw 13 and the second gripping jaw 23 can grip the object 2000. The gripping device 100 can transport the object while fixing the angle between the first support unit 12 and the first gripping jaw 13 and the angle between the second support unit 22 and the second gripping jaw 23. Furthermore, by controlling the robot arm 200 while fixing the above-mentioned angles, the gripping device 100 can control the object 2000 to a desired posture and place it on the placement surface 3000.

[0047] According to one aspect, the control method for the gripping device of the present embodiment controls the first support unit 12 and the second support unit 22 to a predetermined angle while the first gripping jaw 13 and the second gripping jaw 23 grip the object 2000. Then, the object 2000 is placed in a desired location, and the distance between the first support unit 12 and the second support unit 22 is controlled to release the object 2000. With the above configuration, the robot arm 200 controls the first support unit 12 and the second support unit 22 to a predetermined angle, so that the object 2000 can be placed in a desired posture.

[0048] Furthermore, the gripping device control program of this embodiment causes a computer to execute control of the gripping device 100. The gripping device 100 controlled by the gripping device control program has a first support portion 12 that supports the first gripping claw 13, a second support portion 22 that supports the second gripping claw 23, and a distance control means 30 that controls the distance between the first gripping claw 13 and the second gripping claw 23. The gripping device 100 also has a first shaft 11, the first support portion 12, the first gripping claw 13, and a first anti-slip member 14. The gripping device 100 also has a second shaft 21, a second support portion 22, the second gripping claw 23, and a second anti-slip member 24. The first support portion 12 supports the first shaft 11. The first gripping claw 13 is supported by the first shaft 11 so as to be rotatable around a first central axis C, which is the central axis of the first shaft 11. The first anti-slip member 14 is disposed between the first support portion 12 and the first gripping claw 13 and on the outer periphery of the first shaft 11. The second shaft 21 is disposed so that its central axis coincides with the first central axis C. This allows the central axes of the first shaft 11 and the second shaft 21 to be disposed so as to overlap with each other, with the central axis being the first central axis C. The second support portion 22 supports the second shaft 21. The second gripping claw 23 is supported by the second shaft 21 so as to be rotatable around the first central axis C. The second anti-slip member 24 is disposed between the second support portion 22 and the second gripping claw 23 and on the outer periphery of the second shaft 21. The distance control means 30 supports the first support portion 12 and the second support portion 22 so that the first gripping claw 13 and the second gripping claw 23 face each other, and controls the distance between the first gripping claw 13 and the second gripping claw 23. The first center of gravity G1 of the first gripping claw 13 and the second center of gravity G2 of the second gripping claw 23 are arranged so as not to coincide with the first central axis C. When the first gripping claw 13 and the second gripping claw 23 grip an object, the first anti-slip member 14 is sandwiched between the first support portion 12 and the first gripping claw 13, and the second anti-slip member 24 is sandwiched between the second support portion 22 and the second gripping claw 23. The control program of the gripping device of this embodiment causes the computer to execute a step of controlling the first support portion 12 and the second support portion 22 to a predetermined angle when the first gripping claw 13 and the second gripping claw 23 are not gripping an object.Furthermore, the program causes the computer to execute a step of controlling the distance between the first gripping jaw 13 and the second gripping jaw 23 and gripping the object 2000 with the first gripping jaw 13 and the second gripping jaw 23. According to the above program, by controlling the robot arm 200, the angle formed between the first support unit 12 and the first gripping jaw 13 and the angle formed between the second support unit 22 and the second gripping jaw 23 can be controlled to desired values ​​to grip the object 2000. The object can be transported while the angle formed between the first support unit 12 and the first gripping jaw 13 and the angle formed between the second support unit 22 and the second gripping jaw 23 are fixed. Furthermore, by controlling the robot arm 200 while the above-mentioned angles are fixed, the gripping device 100 can control the object 2000 to a desired posture and place it on the placement surface 3000.

[0049] (Second embodiment) In the first embodiment, the mechanism for attaching the first gripping claw 13 to the first shaft 11 and the mechanism for attaching the second gripping claw 23 to the second shaft 21 were not limited. In this embodiment, a configuration in which the first gripping claw 13 is slidable in the direction of the first central axis of the first shaft 11 will be described. FIG. 18 is a front view showing a specific example of the configuration of a gripping device according to the second embodiment of the present invention. The first gripping claw 13 is attached to the first shaft 11 so as to be slidable in the direction of the first central axis of the first shaft 11. The first shaft 11 has a first stopper 11a for preventing the first gripping claw 13 from coming off when the first gripping claw 13 slides in a direction away from the first support portion 12. Similarly, the second gripping claw 23 is attached to the second shaft 21 so as to be slidable in the first central axis direction, and the second shaft 21 is provided with a second stopper 21a that prevents the second gripping claw 23 from coming off.

[0050] 19 is a front view showing a first state of operation of the gripping device according to the second embodiment of the present invention. As shown in FIG. 19, when the first gripping claw 13 and the second gripping claw 23 grip the object 2000, the first gripping claw 13 slides in a direction approaching the first support part 12, and the second gripping claw 23 slides in a direction approaching the second support part 22.

[0051] Without the above-described sliding mechanism, it is necessary to adjust the shape of first anti-slip member 14 so that first anti-slip member 14 is not compressed when object 2000 is not being gripped, and is compressed when object 2000 is being gripped. In contrast, by configuring first gripping claw 13 to slide in the direction of first central axis C relative to first shaft 11, there are no restrictions on the shape of first anti-slip member 14, making it easier to design first anti-slip member 14. The second gripping claw 23, second shaft 21, and second anti-slip member 24 can also be configured in a similar manner.

[0052] The gripping device 100 and the like according to the second embodiment have been described above.

[0053] In the gripping device 100 of this embodiment, the first gripping claw 13 is provided slidably along the first central axis C, and the second gripping claw 23 is provided slidably along the first central axis C. Because the first gripping claw 13 is slidable along the first central axis C, first anti-slip members 14 of various shapes can be clamped between the first support portion 12 and the first gripping claw 13. This makes it easy to design the first anti-slip members 14. The same applies to the second anti-slip members 24.

[0054] According to one embodiment, the gripping device 100 includes a first stopper 11a and a second stopper 21a. The first stopper 11a prevents the first gripping jaw 13 from coming off the first shaft 11. The second stopper 21a The second gripping jaw 23 This prevents the first gripping claws 13 from coming off the second shaft 21. With the above configuration, it is possible to prevent the first gripping claws 13 from coming off the first shaft 11, and it is possible to prevent the second gripping claws 23 from coming off the second shaft 21.

[0055] The scope of the present invention also includes a program for causing a computer to execute the processes of the first and second embodiments described above, and a recording medium storing the program. Examples of recording media that can be used include a magnetic disk, a magnetic tape, an optical disk, a magneto-optical disk, and a semiconductor memory.

[0056] The present invention has been described above using the above-described embodiment as an exemplary example. However, the present invention is not limited to the above-described embodiment. In other words, the present invention can be applied in various aspects that can be understood by a person skilled in the art within the scope of the present invention. [Explanation of symbols]

[0057] 11 First Axis 12 First support 13 First gripping jaw 14 First anti-slip member 21 Second Axis 22 Second support 23 Second gripping jaw 24 Second anti-slip member 30 Spacing control means 100 Gripping device 200 Robot Arm 210 flange 300 control section 1000 Grasping Robot 2000 objects 3000 Loading surface

Claims

1. A first axis; a first support portion that supports the first shaft; a first gripping claw supported by the first shaft so as to be rotatable around a first central axis that is a central axis of the first shaft; a first anti-slip member disposed on an outer periphery of the first shaft between the first support portion and the first gripping claw; a second axis arranged so that its central axis coincides with the first central axis; a second support portion that supports the second shaft; a second gripping claw supported by the second shaft so as to be rotatable about the first central axis; a second anti-slip member disposed on an outer periphery of the second shaft between the second support portion and the second gripping claw; a distance control means for supporting the first support portion and the second support portion so that the first gripping claw and the second gripping claw face each other, and for controlling the distance between the first gripping claw and the second gripping claw; and a center of gravity of the first gripping jaw and a center of gravity of the second gripping jaw are arranged so as not to coincide with the first central axis; the first gripping claw is provided slidably along the first central axis, the second gripping claw is provided slidably along the first central axis, When the object is gripped by the first gripping claw and the second gripping claw, the first anti-slip member is clamped between the first support portion and the first gripping claw, the second anti-slip member is clamped between the second support portion and the second gripping claw; A gripping device characterized by:

2. a first stopper that prevents the first gripping claw from coming off the first shaft; a second stopper that prevents the second gripping claw from coming off the second shaft; The gripping device according to claim 1 .

3. At least one of the first anti-slip member and the second anti-slip member is a pair of plate-like members having concave and convex portions that mesh with each other at a plurality of rotation angles, one of the pair of plate-shaped members is attached to the first gripping jaw and the other of the pair of plate-shaped members is attached to the first support portion; and one of the pair of plate-shaped members is attached to the second gripping jaw and the other of the pair of plate-shaped members is attached to the second support portion; Either one or both of the following 3. The gripping device according to claim 1 or 2.

4. A first axis, a first support portion that supports the first shaft; a first gripping claw supported by the first shaft so as to be rotatable around a first central axis that is a central axis of the first shaft; a first anti-slip member disposed on an outer periphery of the first shaft between the first support portion and the first gripping claw; a second axis arranged so that its central axis coincides with the first central axis; a second support portion that supports the second shaft; a second gripping claw supported by the second shaft so as to be rotatable about the first central axis; a second anti-slip member disposed on an outer periphery of the second shaft between the second support portion and the second gripping claw; a distance control means for supporting the first support portion and the second support portion so that the first gripping claw and the second gripping claw face each other, and for controlling the distance between the first gripping claw and the second gripping claw; and a center of gravity of the first gripping jaw and a center of gravity of the second gripping jaw are arranged so as not to coincide with the first central axis; At least one of the first anti-slip member and the second anti-slip member is a pair of plate-like members having concave and convex portions that mesh with each other at a plurality of rotation angles, one of the pair of plate-shaped members is attached to the first gripping jaw and the other of the pair of plate-shaped members is attached to the first support portion; and one of the pair of plate-shaped members is attached to the second gripping jaw and the other of the pair of plate-shaped members is attached to the second support portion; Either one or both of the following: When the object is gripped by the first gripping claw and the second gripping claw, the first anti-slip member is clamped between the first support portion and the first gripping claw, the second anti-slip member is clamped between the second support portion and the second gripping claw; A gripping device characterized by:

5. At least one of the first anti-slip member and the second anti-slip member includes rubber.

5. The gripping device according to claim 1, wherein the gripping device is a gripping device for holding a plurality of objects.

6. A gripping device according to any one of claims 1 to 5; a robotic arm that controls the position and rotation of the gripping device; a control unit that controls the gripping device and the robot arm; A grasping robot comprising:

7. A method for controlling a gripping device having a first support portion that supports a first gripping jaw, a second support portion that supports a second gripping jaw, and a distance control means that controls a distance between the first gripping jaw and the second gripping jaw, The gripping device A first axis; a first support portion that supports the first shaft; the first gripping claw supported by the first shaft so as to be rotatable around a first central axis that is a central axis of the first shaft; a first anti-slip member disposed on an outer periphery of the first shaft between the first support portion and the first gripping claw; a second axis arranged so that its central axis coincides with the first central axis; a second support portion that supports the second shaft; the second gripping claw supported by the second shaft so as to be rotatable about the first central axis; a second anti-slip member disposed on an outer periphery of the second shaft between the second support portion and the second gripping claw; a distance control means for supporting the first support portion and the second support portion so that the first gripping claw and the second gripping claw face each other, and for controlling the distance between the first gripping claw and the second gripping claw; and a center of gravity of the first gripping jaw and a center of gravity of the second gripping jaw are arranged so as not to coincide with the first central axis; the first gripping claw is provided slidably along the first central axis, the second gripping claw is provided slidably along the first central axis, When the object is gripped by the first gripping claw and the second gripping claw, the first anti-slip member is clamped between the first support portion and the first gripping claw, the second anti-slip member is sandwiched between the second support portion and the second gripping claw, controlling the first support portion and the second support portion to a predetermined angle in a state in which the first gripping jaw and the second gripping jaw are not gripping an object; controlling a distance between the first gripping claw and the second gripping claw, and gripping the object with the first gripping claw and the second gripping claw; A method for controlling a gripping device.

8. A method for controlling a gripping device having a first support part that supports a first gripping claw, a second support part that supports a second gripping claw, and a distance control means that controls the distance between the first gripping claw and the second gripping claw, The gripping device A first axis; a first support portion that supports the first shaft; the first gripping claw supported by the first shaft so as to be rotatable around a first central axis that is a central axis of the first shaft; a first anti-slip member disposed on an outer periphery of the first shaft between the first support portion and the first gripping claw; a second axis arranged so that its central axis coincides with the first central axis; a second support portion that supports the second shaft; the second gripping claw supported by the second shaft so as to be rotatable about the first central axis; a second anti-slip member disposed on an outer periphery of the second shaft between the second support portion and the second gripping claw; a distance control means for supporting the first support portion and the second support portion so that the first gripping claw and the second gripping claw face each other, and for controlling the distance between the first gripping claw and the second gripping claw; and a center of gravity of the first gripping jaw and a center of gravity of the second gripping jaw are arranged so as not to coincide with the first central axis; At least one of the first anti-slip member and the second anti-slip member is a pair of plate-like members having concave and convex portions that mesh with each other at a plurality of rotation angles, one of the pair of plate-shaped members is attached to the first gripping jaw and the other of the pair of plate-shaped members is attached to the first support portion; and one of the pair of plate-shaped members is attached to the second gripping jaw and the other of the pair of plate-shaped members is attached to the second support portion; Either one or both of the following: When the object is gripped by the first gripping claw and the second gripping claw, the first anti-slip member is clamped between the first support portion and the first gripping claw, the second anti-slip member is sandwiched between the second support portion and the second gripping claw, controlling the first support portion and the second support portion to a predetermined angle in a state in which the first gripping jaw and the second gripping jaw are not gripping an object; controlling a distance between the first gripping claw and the second gripping claw, and gripping the object with the first gripping claw and the second gripping claw; A method for controlling a gripping device.

9. controlling the first support portion and the second support portion to a predetermined angle in a state in which the object is gripped by the first gripping jaw and the second gripping jaw; Place the object in a desired location; releasing the object by controlling the distance between the first support portion and the second support portion; 9. A method for controlling a gripping device according to claim 7 or 8.

10. A control program for a gripping device having a first support portion that supports a first gripping jaw, a second support portion that supports a second gripping jaw, and a distance control means that controls a distance between the first gripping jaw and the second gripping jaw, The gripping device A first axis; a first support portion that supports the first shaft; the first gripping claw supported by the first shaft so as to be rotatable around a first central axis that is a central axis of the first shaft; a first anti-slip member disposed on an outer periphery of the first shaft between the first support portion and the first gripping claw; a second axis arranged so that its central axis coincides with the first central axis; a second support portion that supports the second shaft; the second gripping claw supported by the second shaft so as to be rotatable about the first central axis; a second anti-slip member disposed on an outer periphery of the second shaft between the second support portion and the second gripping claw; a distance control means for supporting the first support portion and the second support portion so that the first gripping claw and the second gripping claw face each other, and for controlling the distance between the first gripping claw and the second gripping claw; and a center of gravity of the first gripping jaw and a center of gravity of the second gripping jaw are arranged so as not to coincide with the first central axis; the first gripping claw is provided slidably along the first central axis, the second gripping claw is provided slidably along the first central axis, When the object is gripped by the first gripping claw and the second gripping claw, the first anti-slip member is clamped between the first support portion and the first gripping claw, the second anti-slip member is sandwiched between the second support portion and the second gripping claw, controlling the first support portion and the second support portion to a predetermined angle in a state in which the first gripping claw and the second gripping claw are not gripping an object; a step of controlling a distance between the first gripping claw and the second gripping claw to control gripping of the object by the first gripping claw and the second gripping claw; A control program for a gripping device, characterized by causing a computer to execute the above.

11. A control program for a gripping device having a first support part that supports a first gripping claw, a second support part that supports a second gripping claw, and a distance control means that controls the distance between the first gripping claw and the second gripping claw, The gripping device A first axis; a first support portion that supports the first shaft; the first gripping claw supported by the first shaft so as to be rotatable around a first central axis that is a central axis of the first shaft; a first anti-slip member disposed on an outer periphery of the first shaft between the first support portion and the first gripping claw; a second axis arranged so that its central axis coincides with the first central axis; a second support portion that supports the second shaft; the second gripping claw supported by the second shaft so as to be rotatable about the first central axis; a second anti-slip member disposed on an outer periphery of the second shaft between the second support portion and the second gripping claw; a distance control means for supporting the first support portion and the second support portion so that the first gripping claw and the second gripping claw face each other, and for controlling the distance between the first gripping claw and the second gripping claw; and a center of gravity of the first gripping jaw and a center of gravity of the second gripping jaw are arranged so as not to coincide with the first central axis; At least one of the first anti-slip member and the second anti-slip member is a pair of plate-like members having concave and convex portions that mesh with each other at a plurality of rotation angles, one of the pair of plate-shaped members is attached to the first gripping jaw and the other of the pair of plate-shaped members is attached to the first support portion; and one of the pair of plate-shaped members is attached to the second gripping jaw and the other of the pair of plate-shaped members is attached to the second support portion; Either one or both of the following: When the object is gripped by the first gripping claw and the second gripping claw, the first anti-slip member is clamped between the first support portion and the first gripping claw, the second anti-slip member is sandwiched between the second support portion and the second gripping claw, controlling the first support portion and the second support portion to a predetermined angle in a state in which the first gripping claw and the second gripping claw are not gripping an object; a step of controlling a distance between the first gripping claw and the second gripping claw to control gripping of the object by the first gripping claw and the second gripping claw; A control program for a gripping device, characterized by causing a computer to execute the above.

Images