Gripping device, robot using the same, and method for manufacturing the gripping device

Abstract

It can securely hold small screws and other fastened objects, preventing them from falling. To provide a gripping and operating device with minimal friction. [Solution] A gripping and operating device 1 for locking and operating a locked object, wherein the device for operating the locked object A handle 50, a shaft 40 fixed to the handle, and a tip portion extended and fixed to the shaft. It has 10. The tip has an axial cavity 11 and a radial cavity 12 having an open end 13. It is formed. The axial cavity has a large diameter portion 21 at the base end and beyond the large diameter portion A rod 20 having a small diameter portion 22 that protrudes toward the end is provided. The design includes a bullet-shaped head with one end protruding from the open end and a hole formed into which the narrow diameter portion is fitted. Unit D30 is installed.

Description

Technical Field

[0001] This invention relates to a gripping operation instrument, a robot using the same, and a method for manufacturing the gripping operation instrument. It relates thereto.

Background Art

[0002] In a gripping operation instrument such as a driver for gripping and screwing a locked body such as a screw, there is a functional driver that locks with magnetic force so that the screw or the like does not fall off during work. The method of locking with magnetic force cannot be used for screws made of stainless steel or the like. There are other methods, but there is no method for mechanically and reliably locking and holding. For the first time, the inventor of the present invention devised a method for mechanically and reliably locking in the invention of Patent No. 7419617. Even with the invention of Patent No. 7419617, it is structurally difficult to reliably hold minute screws or the like. There is an invention described in Patent Document 1 for a method of mechanically gripping. There is no method for mechanically and reliably locking and holding, and the invention described in Patent Document 1 is for a mechanical gripping method. The invention described in FIG. 7(A) is an invention related to the driver bit 201 of Patent Document 1. The joining portion 202 has a mountain portion 203, a valley portion 204, an axial hole 205, a tip opening 205a, and a valley opening 205b formed therein. A wire-shaped screw holding member 206 is inserted from the tip opening 205a or the valley opening 205b, and the protruding portion 206a on the tip side protrudes from the valley opening 205b. The base end portion of the screw holding member 2 is laterally fixed with a set screw 207. This driver bit 201 is for a plus groove screw. When the joining portion 202 is inserted into the plus groove, the protruding portion 206a is pressed to the right side, and when the tip of the joining portion 202 is inserted to the bottom of the plus groove, the protruding portion 206a is biased to the left direction, and the structure is such that the screw does not fall off from the driver bit 201. There is an invention described in Patent Document 1 for a method of mechanically gripping.

[0003] The invention described in FIG. 7(A) is an invention related to the driver bit 201 of Patent Document 1. The joining portion 202 has a mountain portion 203, a valley portion 204, an axial hole 205, a tip opening 205a, and a valley opening 205b formed therein. A wire-shaped screw holding member 206 is inserted from the tip opening 205a or the valley opening 205b, and the protruding portion 206a on the tip side protrudes from the valley opening 205b. The base end portion of the screw holding member 206 is laterally fixed with a set screw 207. This driver bit 201 is for a plus groove screw. When the joining portion 202 is inserted into the plus groove, the protruding portion 206a is pressed to the right side, and when the tip of the joining portion 202 is inserted to the bottom of the plus groove, the protruding portion 206a is biased to the left direction, and the structure is such that the screw does not fall off from the driver bit 201. <000=023>It is. The base end portion of the screw holding member 206 is laterally fixed with a set screw 207. This driver bit 201 is for a plus groove screw. When the joining portion 202 is inserted into the plus groove, the protruding portion 206a is pressed to the right side, and when the tip of the joining portion 202 is inserted to the bottom of the plus groove, the protruding portion 206a is biased to the left direction, and the structure is such that the screw does not fall off from the driver bit 201. The base end portion of the screw holding member 206 is laterally fixed with a set screw 207. This driver bit 201 is for a plus groove screw. When the joining portion 202 is inserted into the plus groove, the protruding portion 206a is pressed to the right side, and when the tip of the joining portion 202 is inserted to the bottom of the plus groove, the protruding portion 206a is biased to the left direction, and the structure is such that the screw does not fall off from the driver bit 201. The protruding portion 206a is pressed to the right side, and when the tip of the joining portion 202 is inserted to the bottom of the plus groove, the protruding portion 206a is biased to the left direction, and the structure is such that the screw does not fall off from the driver bit 201. The protruding portion 206a is biased to the left direction, and the structure is such that the screw does not fall off from the driver bit 201. It is.

[0004] Screws are used in a variety of products, and with the increasing precision of equipment, tiny screws are being used more and more. In smartphones, cameras, watches, automotive parts, semiconductor manufacturing equipment, medical devices, etc., precision Many products require high precision, and therefore, tiny screws are frequently used.

[0005] In the medical field, tiny screws are frequently used in implants used in spinal surgery. In surgical procedures, screws are attached to the tip of a screwdriver and screwed in during the surgical field, so a screwdriver - If the screw falls from the tip, it could fall into the patient's body, leading to an accident. [Prior art documents] [Patent Documents]

[0006] [Patent Document 1] Japanese Patent Publication No. 2002-144249 [Overview of the Initiative] [Problems that the invention aims to solve]

[0007] Figure 7(B) shows a screwdriver tip for screwing in a T8 type Torx® screw. The end shows a diagram of the locking method described in Patent Document 1 being applied. T8 Torx screw root The diameter is 1.654 mm, and a hole with a diameter of 0.68 mm is drilled and a gray wire is inserted. Yes, it is. The wire is secured with a set screw for fastening. See the screwdriver shown in Figure 7(B). - The upper diameter of the tip is 2.33 mm, and the set screw is designed so that it does not protrude from the surface. The total length of the female thread must be 1.40 mm or less. However, according to the JIS standard B1177 for set screws, the smallest diameter is M1.6. The minimum length of the set screw is 2.0 mm, so the right end of the set screw is on the surface of the screwdriver tip. It protrudes from. The gripping device of the present invention is used in situations where precise work is required. In most cases, having such a protrusion near the tip is undesirable.

[0008] This invention has been made in view of the above, and its purpose is to secure small screws and the like. To provide a gripping device that can securely hold the body and minimizes the risk of the locked object falling. It is about doing it. [Means for solving the problem]

[0009] The present invention (1) involves locking and operating a locking body having a concave locking portion for locking. A gripping device comprising a handle for operating the object to be locked, and a device fixed to the handle. A shaft, and a part that extends and is fixed to the shaft, and extends from the base end face on the handle side toward the tip. An axial cavity is formed in the axial direction of the shaft, and near the tip surface opposite to the base end surface It has an axial cavity and an open end that is opened approximately perpendicular to it, with at least one end open to the outside. A tip portion having a radial cavity, and a larger diameter at the base end portion disposed in the axial cavity. A rod having a large diameter portion and a small diameter portion that protrudes from the large diameter portion toward the tip, and the radial direction A cannon that is installed in a cavity, with one end protruding from the open end and having a hole formed into which the narrow diameter portion is fitted. It has a bullet-shaped head, and when the tip of the tip is fitted into the locking part, from the open end The protruding end face of the bullet-shaped head becomes the contact end face and is pressed against the side wall of the locked portion. The aforementioned small diameter portion bends, and the reaction force causes the contact end surface to press against the side wall, thereby locking the object to be locked. It is a gripping and manipulating device that can be operated.

[0010] According to the present invention (1), since there is no need to fix the lock by a set screw unlike the structure of Patent Document 1, there are no protrusions on the tip surface, and the locked object can be reliably locked mechanically.

[0011] The present invention (2) is a robot that locks and operates a locked object having a locked portion for being locked, and includes a robot main body portion, an arm portion connected to the robot main body portion, and a control portion for controlling the arm portion. A gripping operation device for locking the locked object is provided at the tip of the arm portion. The gripping operation device includes a handle for operating the locked object, a shaft fixed to the handle, and an axial cavity that is extended and fixed to the shaft and is axially formed from the base end surface on the handle side toward the tip. A radial cavity that is formed substantially perpendicular to the axial cavity and has at least one open end that is open to the outside is provided near the tip surface on the opposite side of the base end surface. The tip portion includes a shaft direction cavity disposed in the shaft direction cavity, a large diameter portion having a large diameter on the base end side, and a small diameter portion protruding from the large diameter portion toward the tip. A rod having a small diameter portion and a bullet-shaped head disposed in the radial cavity, having a hole into which the small diameter portion is inserted, and one end protruding from the open end. When the tip of the tip portion is inserted into the locked portion, the end surface of the bullet-shaped head protruding from the open end becomes an abutting end surface and is pressed from the side wall of the locked portion, and the small diameter portion is bent and the reaction force thereof presses the abutting end surface against the side wall to lock and operate the locked object. It is a robot characterized by being able to.

[0012] According to the present invention (2), by applying the locking operation device of the present invention (1) to a robot, ​​​​​​​​​​​​​​​This allows for secure gripping of minute objects to be locked, enabling screw tightening and other operations.

[0013] The present invention (3) involves locking and operating a locking body having a concave locking portion for locking. A method for manufacturing a gripping device, comprising the step of manufacturing a handle for operating the locked object. The steps include manufacturing a shaft to be fixed to the handle, and creating an axial cavity in the vertical direction. , near the tip, there is a radial cavity approximately perpendicular to the axial cavity, and at least one end is external The steps include manufacturing a tip portion comprising a radial cavity having an open end that is released to the front It is positioned in a cavity in the axial direction, with a large diameter section at the base end and a projection extending from the large diameter section toward the tip. A step of manufacturing a rod having a small diameter portion that protrudes, and a part disposed in the radial cavity, one end A bullet-shaped head is manufactured in which a part protrudes from the open end and a hole is formed into which the narrow diameter portion is fitted. The step and the bullet-shaped head are arranged in the radial cavity, and the small diameter portion of the rod is in the axial cavity. The step of inserting into the hole and inserting the tip of the small diameter portion into the hole to manufacture the assembled tip portion. Then, the base end of the assembled tip and the tip of the shaft are fixed together to manufacture the shaft. Manufacturing of a gripping device having a step of assembling the shaft and the handle. It is a method.

[0014] According to the present invention (3), the tip and the shaft are made separately, and the axial cavity of the tip and the radial A cavity is formed, and a rod having a large diameter section and a small diameter section, with a hole into which the small diameter section is fitted. Since it has a structure that accommodates a bullet-shaped head, the gripping device of the present invention (1) can be easily manufactured. It is possible. [Effects of the Invention]

[0015] According to the present invention, a locking object such as a small screw can be securely held, and the locking object will not fall off. We can provide a gripping device that does not pose a risk of dropping. [Brief explanation of the drawing]

[0016] [Figure 1] This image shows an overall perspective view of a gripping device according to an embodiment of the present invention, and a photograph of a spinal surgery implant. [Figure 2] This is a cross-sectional view of the tip portion according to an embodiment of the present invention. [Figure 3] This is a perspective view of the tip, rod, and bullet-shaped head according to an embodiment of the present invention. [Figure 4] This is a schematic diagram showing the state in which the tip of a gripping device according to an embodiment of the present invention is inserted into a locked object. [Figure 5] This is a cross-sectional view showing the connection between the shaft and the tip of a gripping device according to an embodiment of the present invention, and the connection between the tip and the rod. [Figure 6] This is a schematic diagram of a robot equipped with a gripping device according to an embodiment of the present invention at the tip of its arm. [Figure 7] This is a cross-sectional view of the driver bit described in Patent Document 1 and the application of this driver bit to a T8 Torx screwdriver. [Modes for carrying out the invention]

[0017] The embodiments of the present invention will be described in detail below with reference to the drawings. These are essentially preferred examples and do not limit the scope of the invention, its applications, or its uses. It is not intended to do so.

[0018] Figure 1 shows an overall perspective view of a gripping device according to an embodiment of the present invention. Gripping operation The device 1 has a tip 10 attached to the end of the shaft 40. It has a shape that allows it to be fitted with a screw having a T8 Torx head. Used in spinal surgery. The pedicle screw 4 has a spinal rod insertion hole 5 at its top, and a recessed locking mechanism above it. A locking body 2, called a cover plug, which has part 3, is attached. When the tip of the tip portion 10 is inserted into the concave locking portion 3, the locking body 2 extends from the tip of the tip portion 10. It will no longer fall.

[0019] Figure 2 shows a cross-sectional view of the tip portion 10. Inside the tip portion 10 are an axial cavity 11 and a radial cavity A cavity 12 is formed, and the right side of the radial cavity 12 is an open end 13. A bullet-shaped head 30 is inserted and positioned from the opposite side of 3, and a hole 31 is drilled in the bullet-shaped head 30. It is oriented in the vertical direction. In this state, the rod 20 has a large diameter section 21 and a small diameter section 22. However, the thin-diameter portion 22 is inserted with its downward-facing orientation, and the lower end of the thin-diameter portion 22 is fitted into the hole 31. The contact end surface 32, which is the right end surface of the bullet-shaped head 30, is outward from the concave surface 10a on the outer circumference of the Torx screw. It stands out. Furthermore, the open end 13 has an overhang, but this overhang can be eliminated. This makes it possible to insert and position the bullet-shaped head 30 from the open end 13 side.

[0020] Figure 3 shows the tip portion 10, rod 20, and bullet-shaped head according to the embodiment of the present invention shown in Figure 2. A perspective view of the D30 is shown. The explanation is omitted as it is explained in Figure 2.

[0021] Figure 4 shows the state in which the tip 10 of the gripping device 1 shown in Figure 2 is inserted into the object to be locked 2. In the schematic diagram, the locked body 2 is equipped with a locked portion 3, and the inner wall of the locked portion 3 is the side wall 6. In Figure 4(A), the tip portion 10 has not yet been inserted into the locking portion 3. In Figure 4(B), This shows the right end of the bullet-shaped head 30 in contact with the side wall 6. In Figure 4(C), the tip 10 is moved further downward, and the bullet-shaped head 30 moves to the left. This shows the state in which the slender section 22 is bent to the left due to movement. The arrow indicates the force being applied. This indicates the state. In Figure 4(D), the tip 10 is moved further downwards until it is finally set. This shows the state in which forces are applied to the contact end face 32 and the side wall 6, and they are in a state of equilibrium. Therefore, the object to be locked 2 will not fall off the tip of the tip portion 10.

[0022] Figure 5 shows the connection between the shaft and the tip of the gripping device according to an embodiment of the present invention, This is a cross-sectional view showing the joint between the tip and the rod. In the embodiment shown in Figures 5(A) to 5(D), the shaft 40 and the tip portion 10 are welded together. Part W2 is provided and is entirely joined by welding, but it is not limited to welding. Pin connections and the like can also be used.

[0023] The joint between the tip 10 and the rod 20 is provided with a welding area W1 in Figure 5(A) and is a welding method. Therefore, they are joined. In Figure 5(B), the pin P penetrates the tip portion 10 and the large diameter portion 21. The tip portion 10 and the rod 20 are joined by a pin fixing method. In Figure 5(C), the axial direction is shown. The upper part of the cavity 11 becomes the female tapered surface TP1, and the outer circumferential surface of the large diameter portion 21 becomes the male tapered surface TP2 Thus, the tip portion 10 and the rod 20 are joined using a tapered jointing method. In Figure 5(D), the tip portion 10 and the rod 20 are not joined and fixed together. Even without it, the distance the rod 20 moves axially is small, so it won't be a problem. Crimping and other methods can also be used for joining and fixing.

[0024] Figure 6(A) shows a robot equipped with a gripping device according to an embodiment of the present invention at the tip of its arm. This is a schematic diagram, and Figure 6(B) shows a gripping device 101 attached to the robot 100. This is a schematic diagram. Robot 100 has a first arm 161 and a second arm 16 connected to the robot body 160. 2. It comprises a third arm 163 and a rotating shaft portion 164. The parts 163 and 164 are collectively referred to as the arm section.

[0025] The control unit 170, which controls the arm section, is connected to the first arm 161 and controls the movement of the arm section. Controlled. The first arm 161 rotates a around axis X, and the first arm 161 and the The second arm 162 is connected to the first arm 162 by a pivot shaft A, and the second arm 162 rotates b around pivot shaft A. Movement is possible. The second arm 162 and the third arm 163 are connected by a support shaft B. The third arm 163 is capable of rotational movement c around the pivot axis B. The tip of 63 is equipped with a rotating shaft portion 164, and the rotating shaft portion 164 rotates d around axis Y. It is now possible.

[0026] A gripping device 101 is attached to the side of the tip of the rotating shaft portion 164, and the gripping device The object to be locked 2 is locked to the tip of tool 1. What kind of height of the arm of robot 100 Even if rapid motion is performed, the locked object 2 will not detach from the gripping device 1 and fall or otherwise. Thus, safe automation is possible. Robot 100 in Figure 6 is an articulated robot, It can also be used in SCARA robots and automated assembly machines.

[0027] The gripping device 101 has a handle portion 150, a shaft 140, and a tip portion 110, the tip An axial cavity 111 and a radial cavity 112 are formed in part 110, and inside the tip part 110 The device comprises a rod 120 having a large diameter section 121 and a small diameter section 122, and a bullet-shaped head 130. It is being done. [Industrial applicability]

[0028] As described above, the gripping device of the present invention securely holds a locked object such as a small screw. This allows for the provision of a gripping device that minimizes the risk of the locked object falling. ru. [Explanation of Symbols]

[0029] 1, 101 Gripping operation device 2 Locked object 3 Locked part 4. Pedicle Screw 5. Spinal rod insertion hole 6 side wall 9 10, 110 Tip 10a concave 11, 111 Axial cavity 12, 112 Radial cavities 13 Open end 20, 120 rods 21, 121 Large diameter part 22, 122 Thin section 30 Bullet-shaped head 31 holes 32 Contact end surface 40, 140 shaft 50, 150 handle 100 robots 160 Robot body 161 First Arm 162 Second Arm 163 Third Arm 164 Rotating shaft section 170 Control Unit P pin W1 Welding Area W2 welding area TP1 Female tapered surface TP2 Male tapered surface

Claims

1. A gripping and operating device for locking and operating a lockable body that has a concave locking portion for locking. That is, A handle for operating the locked body, A shaft fixed to the aforementioned handle, The shaft is extended and fixed to the shaft, and extends from the base end face on the handle side toward the tip. An axial cavity opened in the axial direction, and the axial cavity near the tip surface opposite to the base end surface. A radial space is opened in a nearly vertical direction, with at least one end being an open end that is open to the outside. A tip having a cavity, Displaced in the aforementioned axial cavity, it has a large diameter portion at the base end and extends from the large diameter portion toward the tip. A rod having a thin diameter portion that protrudes, Displaced in the aforementioned radial cavity, with one end protruding from the open end, and a hole into which the narrow diameter portion is fitted It has a formed bullet-shaped head, The diameter of the hole in the aforementioned bullet-shaped head is smaller than the diameter of the larger portion. When the tip of the aforementioned tip is fitted into the locking portion, the bullet-shaped part protruding from the open end The end face of the head becomes the contact end face and is pressed against the side wall of the locked portion, causing the narrow diameter portion to bend. The reaction force causes the contact end surface to press against the side wall, thereby locking and operating the object to be locked. Gripping operation device.

2. A robot for locking and operating a lockable body having a lockable part for being locked, A robot body, an arm connected to the robot body, and a control for the arm It is equipped with a control unit, and the tip of the arm portion is equipped with a gripping device for locking the object to be locked, The aforementioned gripping device is A handle for operating the locked body, A shaft fixed to the aforementioned handle, The shaft is extended and fixed to the shaft, and extends from the base end face on the handle side toward the tip. An axial cavity opened in the axial direction, and the axial cavity near the tip surface opposite to the base end surface. A radial space is opened in a nearly vertical direction, with at least one end being an open end that is open to the outside. A tip having a cavity, Displaced in the aforementioned axial cavity, it has a large diameter portion at the base end and extends from the large diameter portion toward the tip. A rod having a thin diameter portion that protrudes, Displaced in the aforementioned radial cavity, with one end protruding from the open end, and a hole into which the narrow diameter portion is fitted It has a formed bullet-shaped head, The diameter of the hole in the aforementioned bullet-shaped head is smaller than the diameter of the larger portion. When the tip of the aforementioned tip is fitted into the locking portion, the bullet-shaped part protruding from the open end The end face of the head becomes the contact end face and is pressed against the side wall of the locked portion, causing the narrow diameter portion to bend. The reaction force causes the contact end surface to press against the side wall, thereby locking and operating the object to be locked. A robot characterized by the following features.

3. Manufacturing of a gripping and operating device for locking and operating a locking body having a concave locking portion for locking. A manufacturing method, The steps include manufacturing a handle for operating the locked body, The steps include manufacturing a shaft to be fixed to the handle, It had an axial cavity in the vertical direction and a radial cavity near the tip that was approximately perpendicular to the axial cavity. The tip portion comprises a radial cavity having an open end at least one end which is open to the outside. The manufacturing steps, Displaced in the aforementioned axial cavity, it has a large diameter portion at the base end and extends from the large diameter portion toward the tip. A step of manufacturing a rod having a small diameter portion that protrudes, Displaced in the aforementioned radial cavity, with one end protruding from the open end, and a hole into which the narrow diameter portion is fitted The steps of manufacturing a bullet-shaped head in which the diameter of the hole is formed and the diameter of the hole is smaller than the diameter of the larger diameter portion, 、 A bullet-shaped head is placed in the radial cavity, and the thin diameter portion of the rod is inserted into the axial cavity. The steps include: inserting the tip of the small diameter portion into the hole to manufacture the assembled tip portion; A step for manufacturing a shaft by fixing the base end of the assembled tip and the tip of the shaft. P and, The steps include assembling the shaft and the handle, A method for manufacturing a gripping device having a gripping mechanism.

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