Chopstick Gripper

Abstract

To provide a gripper which enables a finger part to be inserted between an object and a ground surface and causes less load on a robot arm even when the finger part contacts an object environment.SOLUTION: A chopsticks gripper has: a flange part 1 connected to a robot arm A; finger parts 2a, 2b gripping an object O; and joint parts 3 connecting the flange part 1 with the finger parts 2a, 2b. The finger parts 2a, 2b are provided with: a plurality of flexible membranes 10 swelling and contracting substantially semi-spherically with the air; support bases 20 fixing the flexible membranes 10; means for causing the flexible membranes 10 to swell and contract, with end edges 15 of the flexible membranes 10 being fixed to the support bases 20, respectively; and rod-like chopstick parts 30 gripping the object O. The support bases 20 are each provided with an inner support bases 21 and an outer support bases 22. A direction in which the inner flexible membranes 11 fixed to the inner support bases 21 swell and a direction in which outer flexible membranes 12 fixed to the outer support bases 22 swell face each other. The chopstick parts 30 are fitted to swelling sides of the flexible membranes 10, respectively.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a chopstick gripper attached to the tip of a robot arm for gripping an object that is easy to maintain and whose contact with the object environment cannot be avoided.

Background Art

[0002] Conventionally, various operations in the food industry often rely on manual labor, and automation is eagerly desired. In the food industry, due to requirements for foreign object contamination and food compliance, it is necessary to consider the material and shape when designing a robot end effector. In addition, various foods have large variations in shape and physical properties, and there are many soft and fragile or thin and slippery objects, and a robot hand end effector that can handle these objects well is required.

[0003] Patent Document 1 describes a robot hand for gripping an object, which inserts a finger portion into a gap of the object to grip the object.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the robot hand described in Patent Document 1, it is impossible to insert a finger portion between the floor surface and the object, and when the finger portion contacts the object environment, the load on the robot arm having a hard joint is large.

[0006] Therefore, in view of the above circumstances, the present invention provides a gripper that can insert a finger portion between an object and a ground surface and has a small load on the robot arm even when the finger portion contacts the object environment. [Means for solving the problem]

[0007] The chopstick gripper according to the present invention has a flange portion connected to a robot arm, finger portions for gripping an object, and a joint portion connecting the flange portion and the finger portions, wherein the finger portions comprise a plurality of flexible membranes that expand and contract in a substantially hemispherical shape by air, a support base for fixing the flexible membranes, means for the flexible membranes to expand and contract, and a rod-shaped chopstick portion for grasping the object, wherein the support base comprises an internal support base and an external support base, the direction of expansion of the internal flexible membrane fixed to the internal support base and the direction of expansion of the external flexible membrane fixed to the external support base are opposite, and the chopstick portion is attached between the internal flexible membrane and the external flexible membrane.

[0008] Furthermore, the means for expansion and contraction is characterized in that the edge of the flexible membrane is fixed to the support base, and expansion and contraction occur by supplying and de-airing air into a hole that connects to the space formed between the flexible membrane and the support base.

[0009] Furthermore, the internal support base and the external support base are plate-shaped and parallel to each other, the joint comprises a connecting plate that connects the upper part of the internal support base and the upper part of the external support base, the internal flexible membrane comprises two upper internal flexible membranes and a lower internal flexible membrane arranged vertically, the external flexible membrane is at the same height as the upper internal flexible membrane and the lower internal flexible membrane, and consists of two upper external flexible membranes arranged vertically. under It is characterized by comprising an external flexible membrane.

[0010] Furthermore, the internal support base and the external support base are plate-shaped and parallel to each other, the joint comprises a connecting plate that connects the upper part of the internal support base and the upper part of the external support base, the internal flexible membrane comprises two parts, an upper internal flexible membrane and a lower internal flexible membrane, arranged vertically, and the external flexible membrane is fixed at a height position between the upper internal flexible membrane and the lower internal flexible membrane.

[0011] Furthermore, the aforementioned finger portion is characterized by having two fingers.

[0012] Furthermore, the external support base is hollow prismatic or cylindrical in shape, the internal support base is rod-shaped, the external support base and the internal support base are connected to the joint or flange portion by the internal support base being inserted through the hollow portion of the external support base, the external flexible membrane is a ring-shaped torus-type external flexible membrane, and the internal flexible membrane is formed from a first internal flexible membrane fixed at a position higher than the torus-type external flexible membrane, a second internal flexible membrane fixed at a position opposite to the torus-type external flexible membrane, and a third internal flexible membrane fixed at a position lower than the torus-type external flexible membrane.

[0013] Furthermore, the external support base is hollow prismatic or cylindrical in shape, the internal support base is rod-shaped, the external support base and the internal support base are connected to the joint or flange portion by the internal support base being inserted through the hollow portion of the external support base, the external flexible membrane is a ring-shaped torus-type external flexible membrane, and the internal flexible membrane is a lifting-type internal flexible membrane that moves up and down on the internal support base.

[0014] Furthermore, the chopstick portion is characterized by having three or more pieces.

[0015] Furthermore, the chopstick portion is characterized by being made of stainless steel. [Effects of the Invention]

[0016] According to the present invention, the robot arm comprises a plurality of flexible membranes that expand and contract in a substantially hemispherical shape by air, a support base for fixing the flexible membranes, means for expanding and contracting the flexible membranes with the edges of the flexible membranes fixed to the support base, and a rod-shaped chopstick portion for gripping an object. The support base comprises an internal support base and an external support base, and the direction of expansion of the internal flexible membrane fixed to the internal support base and the direction of expansion of the external flexible membrane fixed to the external support base are opposite. The chopstick portion is attached between the internal and external flexible membranes. Therefore, when gripping an object, even if the chopstick portion comes into contact with the object environment, the flexible membrane absorbs the impact, and the impact is not transmitted to the robot arm.

[0017] Furthermore, since the means for expanding and contracting the flexible membrane involves fixing the edges of the flexible membrane to a support base and supplying and degassing air into and out of holes connecting the space formed between the flexible membrane and the support base, the overall structure can be simple.

[0018] Furthermore, the internal flexible membrane comprises an upper internal flexible membrane and a lower internal flexible membrane arranged vertically, and the external flexible membrane is at the same height as the upper internal flexible membrane and the lower internal flexible membrane, and comprises an upper external flexible membrane arranged vertically, under Since it is equipped with an outer flexible membrane, the chopstick portion can be moved freely and an object can be grasped by adjusting the air pressure within the upper inner flexible membrane, the lower inner flexible membrane, the upper outer flexible membrane, and the lower outer flexible membrane.

[0019] Furthermore, the internal flexible membrane comprises two parts, an upper and a lower internal flexible membrane, arranged vertically. The external flexible membrane is fixed at a height between the upper and lower internal flexible membranes. By adjusting the air pressure within the upper, lower, and external flexible membranes, the chopstick portion can be moved freely, allowing it to grip objects, reducing the amount of flexible membrane and resulting in a simpler structure.

[0020] Since it has two fingers, it can grasp and hold objects like chopsticks.

[0021] In addition, the external support base is in the shape of a hollow prism or a cylinder, the internal support base is in the shape of a rod, the external support base and the internal support base are connected to the joint by inserting the internal support base into the hollow part of the external support base, the external flexible membrane is a ring-shaped toroidal external flexible membrane, the internal flexible membrane includes a first internal flexible membrane fixed at a position higher than the toroidal external flexible membrane, a second internal flexible membrane fixed at a position opposite to the toroidal external flexible membrane, and a third internal flexible membrane fixed at a position lower than the toroidal external flexible membrane. By adjusting the air pressure inside the toroidal external flexible membrane, the first internal flexible membrane, the second internal flexible membrane, and the third internal flexible membrane, the chopstick part can be freely moved and an object can be grasped.

[0022] In addition, the external support base is in the shape of a hollow prism or a cylinder, the internal support base is in the shape of a rod, the external support base and the internal support base are connected to the joint by inserting the internal support base into the hollow part of the external support base, the external flexible membrane is a ring-shaped toroidal external flexible membrane, and the internal flexible membrane is a lifting type internal flexible membrane that moves up and down on the internal support base. By moving the lifting type internal flexible membrane up and down and adjusting the air pressure, the chopstick part can be freely moved and an object can be grasped.

[0023] In addition, since there are three or more chopstick parts, even a fine object can be scooped up and grasped.

[0024] In addition, since the chopstick part is made of stainless steel, food compatibility and washability can be improved.

Brief Description of Drawings

[0025] [Figure 1] It is a schematic perspective view of the chopstick gripper according to the first embodiment of the present invention. [Figure 2] (a) It is a schematic front view showing a state where all the flexible membranes of the chopstick gripper according to the first embodiment are contracted. (b) It is a schematic front view showing a state where all the flexible membranes are inflated. [Figure 3] It is a schematic diagram showing the pneumatic circuit according to the first embodiment. [Figure 4] (a) A schematic front view showing the chopstick portion of the chopstick gripper according to the first embodiment in a closed state. (b) A schematic front view showing the chopstick portion of the chopstick gripper in an open state. [Figure 5] (a) A schematic front view showing the chopstick gripper according to the first embodiment before it grips a thin object. (b) A schematic front view showing the chopstick portion in contact with the object environment. [Figure 6] (c) A schematic front view showing the chopstick portion of the chopstick gripper according to the first embodiment being inserted under an object from an open state. (d) A schematic front view showing the gripping operation of an object. [Figure 7] (e) A schematic front view showing the chopstick gripper according to the first embodiment lifting an object. (f) A schematic front view showing the object being released. [Figure 8] (a) A schematic front view showing the state in which the flexible membrane of the chopstick gripper according to the second embodiment of the present invention has completely contracted. (b) A schematic front view showing the state in which the flexible membrane has completely expanded. [Figure 9] (a) A schematic front view showing the chopstick portion of the chopstick gripper according to the second embodiment in a closed state. (b) A schematic front view showing the chopstick portion of the chopstick gripper in an open state. [Figure 10] This is a schematic perspective view of a chopstick gripper according to a third embodiment of the present invention. [Figure 11] (a) A perpendicular cross-sectional view of Figure 10. (b) A schematic cross-sectional view showing the state in which the flexible membrane of the chopstick gripper according to the third embodiment has fully expanded. [Figure 12] (a) A schematic cross-sectional view showing the chopstick portion of the chopstick gripper according to the third embodiment in a closed state. (b) A schematic cross-sectional view showing the chopstick portion of the chopstick gripper in an open state. [Modes for carrying out the invention]

[0026] The following will provide a detailed explanation with reference to the drawings.

[0027] The chopstick grippers 100, 200, and 300 according to the present invention are attached to the tip of a robot arm A and are mainly used as end effectors for gripping objects O flowing on a belt conveyor in food factories and the like. The overall structure is simple, lightweight, highly operable, and can be easily repaired if damaged.

[0028] [First Embodiment] Figure 1 shows a chopstick gripper 100 according to the first embodiment.

[0029] The chopstick gripper 100 mainly consists of a flange portion 1 connected to the robot arm A, finger portions 2a for gripping the object O, and a joint portion 3 connecting the flange portion 1 and the finger portions 2a.

[0030] (Regarding flange portion 1) The flange portion 1 is connected to the robot arm A at its upper end and to the joint portion 3 at its lower end. In this embodiment, it has a plate-like shape, but its shape and size are not particularly limited.

[0031] (Regarding joint 3) The joint 3 connects the flange portion 1 and the finger portion 2a. In this embodiment, a joint rod 4 and a joint plate 5 are provided. The joint rod 4 connects the upper center of the joint plate 5 to the flange portion 1. The joint plate 5 has the joint rod 4 connected to its upper part, and the upper part of the internal support base 21 and the upper part of the external support base 22 connected to its lower part. The distance between the joint rods 4 is appropriately determined to be the optimal distance for gripping, depending on the size of the object to be gripped O, the length of the chopstick portion 30, and the amount of expansion of the flexible membrane 10.

[0032] (Regarding finger part 2a) The finger portion 2a is for gripping an object O and comprises a flexible membrane 10 that can expand and contract into a roughly hemispherical shape with air, a support base 20 for fixing the flexible membrane 10, a hole 6 to which the edge 15 of the flexible membrane 10 is fixed to the support base 20 for supplying and de-airing air into the space 40 formed between the flexible membrane 10 and the support base 20, and a rod-shaped chopstick portion 30 for grasping the object O. The chopstick gripper 100 according to the first embodiment has two finger portions 2a.

[0033] (Regarding the flexible membrane 10) The flexible membrane 10 is made of a material such as natural rubber, synthetic rubber, or nylon film, and is a thin, stretchable membrane. Except for the edges 15 of the flexible membrane 10, it is not fixed to the support base 20; only the edges 15 are fixed to the support base 20. Air is supplied to and degassed from the space 40 formed between the flexible membrane 10 and the support base 20. ru As a result, the flexible membrane 10 can expand and contract in a roughly hemispherical shape.

[0034] As shown in Figure 2(a), the internal flexible membrane 11 and the external flexible membrane 12 are fixed in two consecutive units, vertically, on the internal support base 21 and the external support base 22, respectively. Furthermore, the upper internal flexible membrane 11a, fixed above the internal support base 21, and the upper external flexible membrane 12a, fixed above the external support base 22, are fixed at the same height. Similarly, the lower internal flexible membrane 11b, fixed below the internal support base 21, and the lower external flexible membrane 12b, fixed below the external support base 22, are fixed at the same height.

[0035] Furthermore, the flexible membrane 10 comprises an external flexible membrane 12 fixed to an external support base 22 and an internal flexible membrane 11 fixed to an internal support base. As shown in Figure 2(b), the internal flexible membrane 11 and the external flexible membrane 12 are fixed to the internal support base 21 and the external support base 22 such that the direction of expansion of the internal flexible membrane 11 and the direction of expansion of the external flexible membrane 12 are opposite to each other.

[0036] When air is pressurized in the space 40, the flexible membrane 10 can expand to at least half the size of the joint plate 5 when viewed horizontally. The degree to which the flexible membrane 10 expands determines the angle at which the chopstick portion 30 tilts and the gripping force for gripping the object O.

[0037] (Regarding support base 20) The support base 20 is connected to the joint 3 and fixes the flexible membrane 10. In this embodiment, the support base 20 is plate-shaped. The support base 20 consists of an internal support base 21 and an external support base 22, and the internal support base 21 and the external support base 22 are connected to the joint plate 5 so that they are parallel to each other.

[0038] (Regarding hole 6) The hole 6 is provided for supplying and degassing air into the space 40 formed by the flexible membrane 10 and the support base 20. As shown in Figure 1, a tube (not shown) is connected to the hole 6, and air is supplied or degassed from the tube through the hole 6. In this embodiment, the hole 6 is provided on the outside of the support base 20, but its location is not limited as long as air can be supplied or degassed. The size of the hole 6 is appropriately determined by the air flow rate, pressure, or elastic force of the flexible membrane 10 so that the flexible membrane 10 can easily expand or contract.

[0039] (Regarding the chopstick section 30) The chopstick portion 30 is rod-shaped and attached between the inner flexible membrane 11 and the outer flexible membrane 12. The chopstick portion 30 is for gripping the object O, and in this embodiment, two chopstick portions 30 are used to grip the object O by sandwiching it. The chopstick portion 30 is fixed to the expanding side of the outer flexible membrane 12. The fixing method is mainly by adhesive or screw fastening, but is not particularly limited as long as it is fixed. By fixing the chopstick portion 30 to the outer flexible membrane 12, the distance between the chopstick portions 30 is increased compared to when they are fixed to the inner flexible membrane 11, so that larger objects O can be gripped. In addition, since the chopstick portion 30 is made of stainless steel, it is rust-resistant, highly food-compatible, and easy to clean. The length of the chopstick portion 30 is at least longer than the longitudinal length of the support base 20 and is appropriately determined depending on the size of the object O and the degree of expansion of the flexible membrane 10.

[0040] (Regarding pneumatic circuits 50 and 51) Figures 3 and 4 show how the chopsticks 30 open and close due to the pneumatic circuits 50 and 51 within the chopstick gripper 100. Figure 3 shows the pneumatic circuit 50 within one finger portion 2a, with two electronic valves 7 provided for each finger portion 2a. Figure 3(a) shows the pneumatic circuit 50 with one pump 8, where air is confined within the system, while Figure 3(b) shows the pneumatic circuit 51 with two pumps 8, where air is released from within the system. Note that "within the system" refers to the space 40. 、 This refers to the enclosed space formed by the hole 6, the electronic valve 7, the pump 8, and the pipe 9. The electronic valve 7 can open air in only one direction, and the pump 8 supplies or deflates air.

[0041] (Regarding the closing operation of the chopstick portion 30 in the pneumatic circuit 50 enclosed within the system) Let's explain the left chopstick section 31 in Figure 4(a). As shown by the arrow in Figure 3(a), on the side where air is supplied, air is sent by the pump 8 from spaces 41b and 42a through the pipe 9, via the electronic valve 7, and through the hole 6 to spaces 41a and 42b. The spaces 41a and 42b to which air is supplied are space 41a, formed by the upper internal flexible membrane 11a and the internal support base 21, and space 42b, formed by the lower external flexible membrane 12b and the external support base 22, which are connected by the same valve. After the air passes through the electronic valve 7, the pressure in spaces 41a and 42b becomes the same because they are connected by the same pipe 9. In other words, air is supplied so that the pressure is the same for spaces 41a and 42b which are diagonally opposite the horizontally viewed section 2a. As a result, the upper internal flexible membrane 11a and the lower external flexible membrane 12b expand to the same extent.

[0042] As air is supplied to spaces 41a and 42b, and the air is contained within the system, air is simultaneously degassed from space 42a, which is formed by the upper external flexible membrane 12a and the external support base 22, and from space 41b, which is formed by the lower internal flexible membrane 11b and the internal support base 21, both of which are connected by the same electronic valve 7.

[0043] As shown by the arrow in Figure 3(a), on the side where air is to be degassed, air is degassed by the pump 8 from spaces 41b and 42a through the holes 6 and via the electronic valve 7. The spaces 41b and 42a to be degassed are space 41b, formed from the lower internal flexible membrane 11b and the internal support base 21, and space 42a, formed from the upper external flexible membrane 12a and the external support base 22, which are connected by the same valve. After the air has passed through the electronic valve 7, the pressure in spaces 41b and 42a becomes equivalent because they are connected to the pump 8 by the same pipe 9. In other words, the air is degassed so that the pressure is equivalent for spaces 41b and 42a that are diagonally opposite each other in the horizontal view 2a. As a result, the lower external flexible membrane 12b and the upper internal flexible membrane 11a contract to the same extent.

[0044] As the upper internal flexible membrane 11a and the lower external flexible membrane 12b expand to the same extent, and the lower internal flexible membrane 11b and the upper external flexible membrane 12a contract to the same extent, the left chopstick portion 31 expands to the same extent as shown in Figure 4(a). The end is the center It can be controlled to tilt in a specific direction.

[0045] The right chopstick section 32, like the left chopstick section 31, is tilted in the direction by supplying or degassing air from within the system into spaces 41a and 42b using the pump 8. The closing operation is performed by controlling the left chopstick section 31 and the right chopstick section 32 to tilt in the direction. After confirming that each space 41a, 41b, 42a, and 42b reaches a predetermined pressure and that the electronic valve 7 is functioning, the drive of the pump 8 is stopped.

[0046] (Regarding the operation of the chopstick portion 30 opening in the pneumatic circuit 50 enclosed within the system) As shown in Figure 4(b), when the chopstick portion 30 opens, the electronic valve 7 is released and the pump 8 is driven in the opposite direction to when it closes. That is, the air in spaces 41a and 42b is degassed, and the degassed air is supplied to spaces 42a and 41b, thereby enabling the opening operation.

[0047] (Regarding the closing operation of the chopstick portion 30 in the pneumatic circuit 51, which is free from the system) Let's explain the left chopstick section 31 in Figure 4(a). The same pipe 9 connects spaces 41a, 42b or spaces 41b, 42a to one pump 8 and electronic valve 7. Similarly, for the right chopstick section 32, the same pipe 9 connects spaces 41a, 42b and spaces 41b, 42a to one pump 8 and electronic valve 7. In other words, the flexible membranes 10 located diagonally opposite the horizontal finger section 2a are connected to the same pressure. The pump 8 is connected to the outside air and degassses or supplies air from the outside air. By driving the pump 8 to make the pressure in spaces 41a, 42b greater than the pressure in spaces 41b, 42a, the left chopstick section 31 can be controlled to tilt inward.

[0048] Similarly, the right chopstick portion 32 in Figure 4(a) can be controlled to tilt inward by driving the pump 8 to make the pressure in spaces 41a and 42b greater than that in spaces 41b and 42a.

[0049] The closing operation is performed by controlling the left chopstick portion 31 and the right chopstick portion 32 to tilt inward. After confirming that each space 41a, 41b, 42a, and 42b reaches a predetermined pressure and that the electronic valve 7 is functioning, the drive of the pump 8 is stopped.

[0050] (Regarding the operation of the chopstick portion 30 in the pneumatic circuit 51, which is free from the system.) As shown in Figure 4(b), when the chopstick section 30 opens, the electronic valve 7 is released and then the pump 8 is driven in the opposite direction to when it closes. That is, the opening operation can be performed by degassing the spaces 41a and 42b and supplying air to the spaces 41b and 42a.

[0051] Furthermore, when using the pneumatic circuit 51, the electronic valve 7 is not necessary as long as the pump 8 is kept running. Also, the flexible membrane 10 does not need to be in contact with each chopstick portion 30 at four points; it may be in contact with only two points of the expanding flexible membrane 10.

[0052] Although not shown in the diagram, one pump 8 may also be provided for each of the spaces 41a, 41b, 42a, and 42b. In this case, four pumps 8 would need to be provided for each finger portion 2a, but the pressure can be adjusted for each of the spaces 41a, 41b, 42a, and 42b.

[0053] [Example of the First Embodiment] Figures 5 to 7 show a series of steps in which the chopstick gripper 100 according to the first embodiment grasps an object O and releases the object O at its destination.

[0054] (Regarding gripping motion) As shown in Figure 5(a), a camera (not shown) captures the object O and moves the chopstick gripper 100 near the object O. At this time, all the flexible membranes 10 of the chopstick gripper 100 teeth The pressure is equal, and the chopsticks 30 are parallel. Then, as shown in Figure 5(b), the robot arm A is driven to tilt the chopstick gripper 100. The tilting angle is changed as appropriate depending on the size of the object O, etc. Then, the robot arm A is driven to lower the chopstick gripper 100 downwards so that one of the chopsticks 30 is placed between the object O and the ground surface G. At this time, even if the chopsticks 30 are strongly impacted by the ground surface G, which is the environment of the object, the elastic force of the flexible membrane 10 is absorbed by the impact because the chopsticks 30 are fixed to the flexible membrane 10. of By absorbing the impact, the chopstick gripper 100 and robot arm A are prevented from being damaged, and the speed of the gripping operation can be improved.

[0055] As shown in Figure 6(c), the chopstick portion 30 is inserted between the object O and the ground surface G to lift the object O. Then, as described above, the pressure in the spaces 41a and 42b is adjusted by driving the pump 8 to control the chopstick portion 30, and the object O is gripped and held as if it were being held with chopsticks, as shown in Figure 6(d).

[0056] (Regarding the release operation) As shown in Figure 7(e), after gripping the object O, the robot arm A performs an upward lifting operation for the object O. After a certain period of time, the robot arm A recognizes that the chopstick gripper 100 has gripped the object O. Alternatively, the robot arm A may recognize that the chopstick gripper 100 has gripped the object O based on the pressure value of the pump 8. After moving the object O to the target location, as described above, the chopstick section 30 is controlled by adjusting the pressure in spaces 41b and 42a by driving the pump 8, and the object O is released as shown in Figure 7(f). After the release operation is completed, the series of operations is finished.

[0057] [Second Embodiment] Figures 8 and 9 show the chopstick gripper 200 according to the second embodiment. Similar to the chopstick gripper 100 of the first embodiment, the chopstick gripper 200 has a flange portion 1 connected to the robot arm A, and finger portions 2b for gripping the object O, and the flange portion 1 and finger portions 2 b It mainly consists of a connecting part 3 that connects and .

[0058] Similar to the chopstick gripper 100 of the first embodiment, the flexible membrane 10 comprises an external flexible membrane 12 fixed to an external support base 22 and an internal flexible membrane 11 fixed to an internal support base. 8 As shown in (b), the internal flexible membrane 11 and the external flexible membrane 12 are fixed to the internal support base 21 and the external support base 22 such that the direction of expansion of the internal flexible membrane 11 and the direction of expansion of the external flexible membrane 12 are opposite to each other.

[0059] The flexible film 10 is the first embodiment of In the original design, the internal flexible membrane 11 and the external flexible membrane 12 are fixed in two consecutive units vertically on the internal support base 21 and the external support base 22, respectively. However, in this embodiment, there is only one internal flexible membrane 11. Furthermore, the height of the internal flexible membrane 11 is fixed to the external support base 22 so that it is located between the upper external flexible membrane 12a and the lower external flexible membrane 12b. Because there are fewer flexible membranes 10, a simpler structure can be achieved.

[0060] (Regarding the closing action) When closing, both the left chopstick portion 31 and the right chopstick portion 32 are above direction outside Partially flexible film 1 2a and outside Part support stand 2 2 The space formed from between Degas it, under direction outside Partially flexible film 1 2b and outside Part support stand 2 2 The space formed from between To supply air. above Internal flexible membrane 1 2a It contracts, under direction outside Partially flexible film 1 2bAs it expands, the chopstick portion 30 is controlled to face inward, and the closing motion begins.

[0061] (Regarding the opening action) When opening, both the left chopstick portion 31 and the right chopstick portion 32 are under direction outside Partially flexible film 1 2b and outside Part support stand 2 2 The space formed from between Degas it, above direction outside Partially flexible film 1 2b and outside Part support stand 2 2 The space formed from between To supply air. under direction outside Partially flexible film 1 2b It contracts, above direction outside Partially flexible film 1 2a As it expands, the chopstick portion 30 is controlled to face outward, and the opening motion begins.

[0062] (Regarding pneumatic circuits 50 and 51) The pneumatic circuit in the second embodiment may be either a pneumatic circuit 50 enclosed within the system or a pneumatic circuit 51 open from within the system.

[0063] [Third Embodiment] Figures 10 and 11 The image shows a chopstick gripper 300 according to the third embodiment. Similar to the chopstick grippers 100 and 200 of the first and second embodiments, the chopstick gripper 300 mainly consists of a flange portion 1 connected to a robot arm A, finger portions 2c for gripping an object O, and a joint portion 3 connecting the flange portion 1 and the finger portions 2c.

[0064] figure 10 As shown, the external support base 22 is hollow prismatic or cylindrical, and the internal support base 21 is rod-shaped. The external support base 22 and the internal support base 21 are connected to a connecting rod 4 or flange portion 1, which is a joint portion 3, such that the internal support base 21 is inserted into the hollow portion 22a of the external support base 22.

[0065] Furthermore, the outer flexible membrane 12 is a ring-shaped torus-type outer flexible membrane 13, and the inner flexible membrane 11 is formed from a first inner flexible membrane 14a fixed at a position higher than the torus-type outer flexible membrane 13, a second inner flexible membrane 14b fixed at a position opposite to the torus-type outer flexible membrane 13, and a third inner flexible membrane 14c fixed at a position lower than the torus-type outer flexible membrane 13. The outer support base 22 is provided with holes 6, which allow air to be supplied to the space 44 formed between the torus-type outer flexible membrane 13 and the outer support base 22.

[0066] In this embodiment, eight chopsticks 30 are attached to the expanding side of the torus-shaped outer flexible membrane 13. If the object O is small, attaching eight chopsticks 30 allows the object O to be grasped in a scooping motion. In this case, it is desirable that at least three or more chopsticks 30 are attached.

[0067] Furthermore, the flange portion 1 is circular in shape and has three holes 6 at its upper part. Figures 11 and 12 As shown in the cross-sectional view, the hole 6 is Inside The internal support base 21 is connected to three pipes 9 inside, and each pipe 9 is connected to spaces 45, 46, and 47 formed by the internal support base 21 and the first flexible membrane 14a, the second flexible membrane 14b, or the third flexible membrane 14c.

[0068] By supplying or de-airing air into each of the spaces 45, 46, and 47, the closing or opening operation of the chopstick portion 30 can be freely controlled.

[0069] When performing the closing operation, air is supplied to the space 44 formed by the torus-shaped outer flexible membrane 13 and the outer support base 22, and to the space 45 formed by the first inner flexible membrane 14a and the inner support base 21, thereby controlling the chopstick portion 30 to face inward and enabling the closing operation.

[0070] When performing the opening operation, air is supplied to the space 44 formed by the torus-shaped outer flexible membrane 13 and the outer support base 22, and to the space 47 formed by the third inner flexible membrane 14c and the inner support base 21, thereby controlling the chopstick portion 30 to face outward and enabling the opening operation.

[0071] Furthermore, although the internal flexible membrane 11 was fixed in three consecutive units vertically on the internal support base 21, it may also be a vertically moving internal flexible membrane that moves up and down on the internal support base. In this case, there is only one internal flexible membrane 11, and only one hole 6 and one pipe 9 are needed, resulting in a simpler structure.

[0072] Lifting type internal flexible membrane of increase and The chopstick portion 30 can be controlled to face inward, and the closing operation is performed, and the lifting and lowering internal flexible membrane of When lowered, the chopstick portion 30 can be controlled to face outwards, and the opening action is performed.

[0073] [Other implementations] In addition, although not shown in the diagram, the tip of the chopstick portion 30 that comes into contact with the object O may be provided with bumps or spatulas to make it easier to hook the object O and grip it.

[0074] Furthermore, the means for expanding and contracting the flexible membrane 10 may be formed such that the flexible membrane 10 has a cavity, and expands or contracts into a bag shape by supplying or degassing air into the cavity. [Industrial applicability]

[0075] This invention is expected to be useful in the food industry, which is facing a projected decline in its workforce. [Explanation of symbols]

[0076] 100, 200, 300 Chopstick Gripper 1. Flange section 2a,2b,2c fingers 3 Joint 4 Connecting rod 5 Joint plate 6 Hole 7 Electronic valve 8 pumps 9 pipes 10 Flexible membrane 11. Internal flexible membrane 12. Outer flexible membrane 11a Upper internal flexible membrane 11b Lower internal flexible membrane 12a Upper external flexible membrane 12b Lower external flexible membrane 13 Torus-shaped outer flexible membrane 14a First internal flexible membrane 14b Second internal flexible membrane 14c Third internal flexible membrane 15 edge 20 Support stand 21 Internal support 22 External support 22a Hollow part 30 Chopsticks 31 Left chopstick part 32 Right chopstick section 40 space 41a Space 41b Space 42a Space 42b Space 43 Space 44~47 Space 50 Pneumatic Circuit 51 Pneumatic Circuit A robotic arm G ground plane Object

Claims

1. The flange portion connected to the robot arm, The finger portion that grasps the object, It has a joint that connects the flange portion and the finger portion, The aforementioned finger portion consists of multiple flexible membranes that expand and contract in a roughly hemispherical shape due to air, A support base for fixing the flexible membrane, Means for expanding and contracting the flexible membrane, It comprises a rod-shaped chopstick portion for grasping the aforementioned object, The support base comprises an internal support base and an external support base. The direction in which the internal flexible membrane fixed to the internal support base expands is opposite to the direction in which the external flexible membrane fixed to the external support base expands. The chopstick gripper is characterized in that the chopstick portion is attached to the expanding side of the flexible membrane.

2. The means for expansion and contraction is characterized in that the edge of the flexible membrane is fixed to the support base, and expansion and contraction are achieved by supplying and de-airing air to a hole that connects to the space formed by the flexible membrane and the support base, as described in claim 1.

3. The internal support base and the external support base are plate-shaped and parallel to each other. The aforementioned joint comprises a connecting plate that connects the upper part of the internal support base and the upper part of the external support base. Prepare, The aforementioned internal flexible membrane comprises an upper internal flexible membrane and a lower internal flexible membrane, which are arranged vertically in a row. The chopstick gripper according to claim 1 or 2, characterized in that the outer flexible membrane comprises two outer flexible membranes, one above the other, with the upper and lower inner flexible membranes being at the same height as the upper inner flexible membrane and the lower inner flexible membrane, respectively.

4. The internal support base and the external support base are plate-shaped and parallel to each other. The aforementioned joint comprises a connecting plate that connects the upper part of the internal support base and the upper part of the external support base. The aforementioned internal flexible membrane comprises an upper internal flexible membrane and a lower internal flexible membrane, which are arranged vertically in a row. The chopstick gripper according to claim 1 or 2, characterized in that the outer flexible membrane is fixed at a height position between the upper inner flexible membrane and the lower inner flexible membrane.

5. The chopstick gripper according to any one of claims 1 to 4, characterized in that the aforementioned finger portion has two fingers.

6. The external support base is hollow, rectangular, or cylindrical, and the internal support base is rod-shaped. The external support base and the internal support base are connected to the joint or flange portion by the internal support base being inserted through the hollow portion of the external support base. The aforementioned external flexible membrane is a ring-shaped torus-type external flexible membrane, The aforementioned internal flexible membrane comprises a first internal flexible membrane fixed at a higher position than the torus-shaped external flexible membrane, A second internal flexible membrane is fixed in a position opposite to the torus-shaped external flexible membrane, A chopstick gripper according to claim 1 or 2, characterized in that it is formed from a third internal flexible membrane fixed at a lower position than the torus-shaped external flexible membrane.

7. The external support base is hollow, rectangular, or cylindrical, and the internal support base is rod-shaped. The external support base and the internal support base are connected to the joint or flange portion by the internal support base being inserted through the hollow portion of the external support base. The aforementioned external flexible membrane is a ring-shaped torus-type external flexible membrane, The chopstick gripper according to claim 1 or 2, characterized in that the internal flexible membrane is a lifting type internal flexible membrane that moves up and down on the internal support base.

8. The chopstick gripper according to claim 6 or 7, characterized in that the chopstick portion consists of three or more chopsticks.

9. The chopstick gripper according to any one of claims 1 to 8, characterized in that the chopstick portion is made of stainless steel.

Images