Gripping mechanism and end effector

Abstract

This gripping mechanism comprises a pair of gripping parts including a first gripping part and a second gripping part which face each other. The first gripping part and the second gripping part each comprise a first end, a second end on the opposite side to the first end, a protrusion section provided to the first end, and a rotary shaft provided to the second end. The protrusion section can rotate around the rotary shaft. The first gripping part and the second gripping part face each other in a direction crossing the direction in which the rotary shaft extends.

Description

Technical Field

[0001] The present disclosure relates to a gripping mechanism and an end effector.

Background Art

[0002] Patent Document 1 discloses a robot hand. This robot hand includes a base, a gripping part that grips a gripping object with each of a first gripping part and a second gripping part, and a conforming part. When the conforming part grips a gripping object, it allows rotation of each of the first gripping part and the second gripping part about the axis of extension from the base in each of the first gripping part and the second gripping part, and rotation of each of the first gripping part and the second gripping part in the opening and closing direction, so that the gripping surfaces of the first gripping part and the second gripping part conform well to the shape of the gripping object. This makes it possible to make the gripping surfaces of the gripping part conform well to the shape of the gripping object.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] The present disclosure provides a gripping mechanism and an end effector that can stably grip a gripping object.

[0005] The gripping mechanism according to the present disclosure includes a pair of gripping parts including a first gripping part and a second gripping part facing each other. Each of the first gripping part and the second gripping part includes a first end, a second end opposite to the first end, a protrusion provided at the first end, and a rotation axis provided at the second end. The protrusion is rotatable about the rotation axis. The first gripping part and the second gripping part face each other in a direction intersecting the direction in which the rotation axis extends.

[0006] According to the present disclosure, a gripping mechanism and an end effector that can stably grip a gripping object can be provided. [Brief explanation of the drawing]

[0007] [Figure 1] Conceptual diagram showing a robotic arm with an end effector. [Figure 2] Perspective view showing the end effector [Figure 3] Top view showing the end effector. [Figure 4] Side view showing the end effector [Figure 5] Perspective view showing the first gripping portion connected to the connecting member. [Figure 6] Exploded perspective view of the connecting member and the first gripping part. [Figure 7] Perspective view showing the first gripping portion connected to the connecting member. [Figure 8] Conceptual diagram showing the first state when the gripping mechanism grips the object to be gripped. [Figure 9] Conceptual diagram showing the second state when the gripping mechanism grips the object to be gripped. [Figure 10] Conceptual diagram showing the third state when the gripping mechanism grips the object to be gripped. [Figure 11] Conceptual diagram showing the fourth state when the gripping mechanism grips the object to be gripped. [Figure 12] A diagram showing an example of gripping an object using a gripping mechanism. [Figure 13] A diagram showing an example of gripping an object using a gripping mechanism. [Figure 14] A diagram showing an example of gripping an object using a gripping mechanism. [Figure 15] Block diagram showing an example of the hardware configuration of the control unit. [Modes for carrying out the invention]

[0008] (Background leading to this disclosure) Generally, end effectors such as robot hands are controlled by a control device located at the base end, enabling them to grasp objects. For example, tableware can be considered an object to be grasped. Many dishes have inclined sides, and the angle of inclination varies depending on the object. It has been difficult for end effectors to stably grasp objects with inclinations of various angles, not just tableware.

[0009] In the robot hand described in Patent Document 1, the conforming portion is made of an elastic material. Furthermore, the conforming portion allows rotation around the axis extending from the base of the gripping piece, and rotation in the opening and closing direction of the gripping piece. Therefore, when a cup or the like is gripped between the two gripping pieces, the gripping surfaces of the gripping pieces conform to the outer shape of the cup.

[0010] However, it remained difficult for robot hands to grasp objects with an inclination, such as flat plates. If the gripping force of the gripping piece is weak, it becomes difficult to grasp the object stably, and the object may slip off. On the other hand, if the gripping force of the gripping piece is strong, the object may slip away from the gripping piece along its inclination, similarly making it difficult to grasp the object stably, and potentially resulting in a failed grasp. Furthermore, since the inclination of the object being grasped is not always a straight line, there are cases where the gripping piece cannot generate sufficient frictional force to stably grasp the object.

[0011] Therefore, in the following embodiments, we will describe in detail a gripping mechanism and end effector that can stably grip objects that have an inclination.

[0012] Hereinafter, embodiments (hereinafter referred to as "the present embodiment") specifically disclosing the gripping mechanism and the end effector according to the present disclosure will be described in detail while appropriately referring to the drawings. However, detailed descriptions that are more than necessary may be omitted. For example, detailed descriptions of well-known matters and redundant descriptions of substantially the same configurations may be omitted. This is to avoid making the following description unnecessarily redundant and to facilitate the understanding of those skilled in the art. Note that the attached drawings and the following description are provided for those skilled in the art to fully understand the present disclosure, and it is not intended to limit the subject matter described in the claims thereby.

[0013] FIG. 1 is a conceptual diagram showing a robot arm 3 provided with an end effector 2. The robot arm 3 typically includes a multi-joint arm. The end effector 2 is attached to the tip of the arm. In the present embodiment, the end effector 2 is, for example, a robot hand having two fingers.

[0014] The gripping mechanism 1 according to the present embodiment is attached to the tip of the end effector 2. The gripping mechanism 1 grips a gripping object OBJ such as a dish. However, the gripping object OBJ is not limited to a dish.

[0015] FIG. 2 is a perspective view showing the end effector 2. FIG. 3 is a top view showing the end effector 2. FIG. 4 is a side view showing the end effector 2. The end effector 2 with the gripping mechanism 1 attached to its tip will be described with reference to FIGS. 2 to 4.

[0016] For convenience of explanation, coordinate axes are introduced. The illustrated coordinate axes are the coordinate axes in a rectangular coordinate system having X-axis, Y-axis, and Z-axis that are orthogonal to each other. The end effector 2 includes a base 23, a first finger 21, and a second finger 22. The first finger 21 and the second finger 22 are attached to the base 23 so as to be rotatable about an axis parallel to the illustrated Z-axis.

[0017] The gripping mechanism 1 comprises a first gripping part 11 and a second gripping part 12. The first gripping part 11 and the second gripping part 12 face each other. In other words, the gripping mechanism 1 comprises a pair of gripping parts (for example, a first gripping part 11 and a second gripping part 12) that face each other. The first gripping part 11 and the second gripping part 12 each have a rotation axis 111 and 121. The rotation axis 111 extends in the direction of the tip of the first finger 21. The rotation axis 121 extends in the direction of the tip of the second finger 22. In the illustrated example, the rotation axis 111 and the rotation axis 121 each extend in the X-axis direction. The first gripping part 11 is rotatable about the rotation axis 111. The second gripping part 12 is rotatable about the rotation axis 121. The first gripping portion 11 and the second gripping portion 12 face each other in directions intersecting with the directions in which the rotation axes 111 and 121 extend. In the illustrated example, the first gripping portion 11 and the second gripping portion 12 face each other in the Y-axis direction, which is perpendicular to the X-axis direction, which is the direction in which the rotation axes 111 and 121 extend. The torsion springs 116 and 126 shown in Figures 2 to 4 will be described later based on Figures 5 to 7.

[0018] The connecting member 51 is positioned between the first gripping portion 11 and the first finger 21. The connecting member 51 connects the first gripping portion 11 and the first finger 21. The connecting member 52 is positioned between the second gripping portion 12 and the second finger 22. The connecting member 52 connects the second gripping portion 12 and the second finger 22. The connecting members 51 and 52 are each formed in the shape of a bent plate with three sides when viewed from the Z-axis direction (see Figure 3). However, the shapes of the connecting members 51 and 52 are not limited to this.

[0019] The first gripping portion 11 is connected to one end of the connecting member 51. More specifically, the rotating shaft 111 of the first gripping portion 11 is inserted into and fixed in a hole provided at one end of the connecting member 51. The second gripping portion 12 is connected to one end of the connecting member 52. More specifically, the rotating shaft 121 of the second gripping portion 12 is inserted into and fixed in a hole provided at one end of the connecting member 52.

[0020] The other end of connecting member 51 is fixed to connecting portion C1 protruding from the first finger 21. The other end of connecting member 52 is fixed to connecting portion C2 protruding from the second finger 22. Connecting portion C1 is rotatably mounted on the first finger 21 along an axis parallel to the Z-axis in the figure, relative to the two pivot points (see Figure 3) of the first finger 21. Connecting portion C2 is rotatably mounted on the second finger 22 along an axis parallel to the Z-axis in the figure, relative to the two pivot points (see Figure 3) of the second finger 22. Therefore, even when the first finger 21 and the second finger 22 are opened and closed, connecting portions C1 and C2 remain parallel to each other.

[0021] In addition, the end effector 2 does not necessarily need to have connecting members 51 and 52. In this case, the first gripping portion 11 and the second gripping portion 12 may be directly fixed to the first finger 21 and the second finger 22, respectively.

[0022] Figure 5 is a perspective view showing the first gripping portion 11 connected to the connecting member 51. Figure 6 is an exploded perspective view of the connecting member 51 and the first gripping portion 11. Figure 7 is a perspective view showing the first gripping portion 11 connected to the connecting member 51. The structure of the first gripping portion 11 will be described with reference to Figures 5 to 7. The structure of the second gripping portion 12 is the same as that of the first gripping portion 11, except that the first gripping portion 11 and the second gripping portion 12 face each other. Therefore, the description of the structure of the first gripping portion 11 is applicable to the second gripping portion 12 as well, and a detailed explanation will be omitted.

[0023] The first gripping section 11 comprises a rotating shaft 111, a first frame 112, a second frame 113 as an example of a frame, a third frame 114 as an example of a frame, a rigid stopper 115, and a torsion spring 116.

[0024] The first frame 112 has a generally bent, planar shape. One end of the first frame 112 is bent in a generally U-shape so as to wrap around the rotation axis 111 along the X-axis direction. The other end of the first frame 112 is bent in a generally L-shape so as to rest on the rigid stopper 115 described later along the X-direction. In other words, the first frame 112 is connected to the rigid stopper 115 and the rotation axis 111.

[0025] The second frame 113 and the third frame 114 have a curved, rod-like shape. The second frame 113 has a perforated ring 1131. The third frame 114 has a perforated ring 1141. A perforated ring 1131 and a perforated ring 1141 are provided correspondingly at one end of the second frame 113 and the third frame 114, respectively. The rotating shaft 111 passes through the perforated rings 1131 and 1141, respectively.

[0026] The rotating shaft 111 also passes through the torsion spring 116. The torsion spring 116 is Figure 3, Figure 6 Figure 7 As shown, Frame 2, 113 and Frame 3, 114 It may be placed between them. 。

[0027] One end of the torsion spring 116 is fixed to the rotating shaft 111, and the other end of the torsion spring 116 is fixed to the third frame 114. Therefore, when the first gripping part 11 is subjected to an external force, it rotates around the rotating shaft 111, but when the external force is removed, the biasing force of the torsion spring 116, one end of which is fixed to the rotating shaft 111, causes the first gripping part 11 to return to its original position.

[0028] The rigid stopper 115 generally has a U-shape. One end of the rigid stopper 115 is inserted into the end of the second frame 113 opposite to the perforated ring 1131 (see Figure 5 or Figure 7). The other end of the rigid stopper 115 is inserted into the end of the third frame 114 opposite to the perforated ring 1141 (see Figure 5 or Figure 7). As a result, the central portion of the rigid stopper 115 forms a projection at the first end of the first gripping portion 11. As shown in Figure 7, the rigid stopper 115 is provided between the second frame 113 and the third frame 114. The first frame 112, the second frame 113, the third frame 114, and the rigid stopper 115 are rotatable around the rotation axis 111. In this embodiment, the first end of the first gripping portion 11 is the end facing the Z-axis direction in the figure. The second end of the first gripping portion 11 is the end that faces in the direction opposite to the Z-axis direction in the figure.

[0029] A cushion 117 is provided on the first gripping portion 11. The cushion 117 is provided on the side of the rotating shaft 111 that faces the other opposing gripping portion, the second gripping portion 12. In this embodiment, the cushion 117 is provided on the Y-axis side of the rotating shaft 111. Also, as shown in Figure 5, the cushion 117 is provided between the first frame 112 and the elastic sheet 118. By providing the cushion 117 on the first gripping portion 11, the gripping mechanism 1 can fit and receive the shape of the object to be gripped (e.g., tableware), so that the object to be gripped can be gripped stably. In addition, by providing the cushion 117 at the above position on the first gripping portion 11 (that is, on the side of the rotating shaft 111 that faces the other opposing gripping portion, the second gripping portion 12), the external force that the cushion 117 receives from the object to be gripped does not cause the first gripping portion 11 to rotate around the rotating shaft 111. Therefore, when gripping an object (especially a cylindrical object such as a cup), the relative position of the first gripping part 11 with respect to the object does not shift in the rotational direction of the first gripping part 11. Consequently, the gripping mechanism 1 can grip the object more stably.

[0030] In this embodiment, the cushion 117 is positioned between the first frame 112 and the elastic sheet 118, which will be described later. This allows the cushion 117 to press the elastic sheet 118 against the object to be gripped. As a result, the contact area between the elastic sheet 118 and the object to be gripped is increased, allowing the object to be gripped over a wider surface area. This increases the gripping stability of the first gripping section 11.

[0031] An elastic sheet 118 is provided on the surface of the first gripping portion 11 facing the opposing second gripping portion 12. The elastic sheet 118 is made of a deformable material such as silicone. In this embodiment, the elastic sheet 118 is fixed to the end of the first frame 112 on the side of the rotation axis 111 and the end on the side of the rigid stopper 115. As described above, a cushion 117 is provided between the elastic sheet 118 and the first frame 112 at the end on the side of the rotation axis 111, creating a play space on the rigid stopper 115 side. This play space becomes the deformation space of the elastic sheet 118, absorbing differences in the side shape of the object to be gripped, such as a flat plate or a deep plate, and fitting the shape of the object to be gripped. In other words, the elastic sheet 118 is more easily deformed on the rigid stopper 115 side than on the rotation axis 111 side, depending on the presence or absence of the cushion 117.

[0032] With the above configuration, the gripping mechanism 1 can grip the object to be gripped over a surface area, thus enabling stable gripping of the object. Furthermore, since the elastic sheet 118 adheres closely to the object to be gripped, the object can be gripped even more stably.

[0033] Preferably, the friction on the first end side of the first gripping portion 11 of the elastic sheet 118 is smaller than the friction on the second end side of the first gripping portion 11. This makes it easier for the object to be gripped in contact with the elastic sheet 118 to move toward the rigid stopper 115. Also, the second end side of the first gripping portion 11 of the elastic sheet 118 is less slippery than the first end side. This allows the object to be gripped to be held by the less slippery second end side. In this embodiment, a low-friction sheet 119 is attached to the first end side of the first gripping portion 11 of the elastic sheet 118, i.e., the side closer to the rigid stopper 115. The friction of the low-friction sheet 119 is smaller than the friction of the elastic sheet 118. However, the method of creating a difference in frictional force between the first end side and the second end side of the first gripping portion 11 of the elastic sheet 118 is not limited to this. For example, the elastic sheet 118 itself may be made of a low-friction sheet. Furthermore, a sheet with high frictional force may be attached to the second end side of the first gripping portion 11 of the low-friction elastic sheet 118, or an anti-slip treatment may be applied.

[0034] Referring to Figures 7 and 12, the second frame 113 has a first end connected to the rigid stopper 115 and a second end connected to the rotation axis 111. The first end of the first gripping portion 11 in the second frame 113 and the third frame 114 is curved toward the other opposing gripping portion (i.e., the second gripping portion 12). In this embodiment, the second frame 113 and the third frame 114 are curved, for example, in a V-shape. As a result, compared to the case where the second frame 113 and the third frame 114 are formed linearly like the letter I, the projection (for example, the rigid stopper 115) tilts toward the object to be gripped and has a positional relationship parallel to the object to be gripped. Therefore, if the object to be gripped slides upward (in the Z-axis direction in the figure) when gripped by the gripping mechanism 1, it is prevented that the object to be gripped will come off the projection (for example, the rigid stopper 115).

[0035] Figure 8 is a conceptual diagram showing the first state when the gripping mechanism 1 grips the object OBJ. Figure 9 is a conceptual diagram showing the second state when the gripping mechanism 1 grips the object OBJ. Figure 10 is a conceptual diagram showing the third state when the gripping mechanism 1 grips the object OBJ. Figure 11 is a conceptual diagram showing the fourth state when the gripping mechanism 1 grips the object OBJ. The gripping of the object OBJ by the gripping mechanism 1 will be explained based on each of Figures 8 to 11.

[0036] Here, the second gripping section 12 of the gripping mechanism 1 has the same structure as the first gripping section 11, except that the first gripping section 11 and the second gripping section 12 face each other. The reference numerals for the components of the second gripping section 12 that are the same as those of the first gripping section 11 are, respectively, the rotating shaft 121, the first frame 122, the second frame 123, the third frame 124, the rigid stopper 125, the torsion spring 126, the cushion 127, the elastic sheet 128, and the low-friction sheet 129. As shown in Figure 8, the cushion 117 of the first gripping section 11 and the cushion 127 of the second gripping section 12 are provided between the rotating shaft 111 of the first gripping section 11 and the rotating shaft 121 of the second gripping section 12. Furthermore, the elastic sheet 118 of the first gripping portion 11 and the elastic sheet 128 of the second gripping portion 12 face each other in a direction (for example, the Y-axis direction) that intersects with the direction in which the rotation axes 111 and 121 extend (for example, the X-axis direction).

[0037] Figure 8 shows the first state when the gripping mechanism 1 grips the object OBJ. The control device 100, described later, controls the end effector 2 to gradually bring the first gripping part 11 and the second gripping part 12 of the gripping mechanism 1 closer to the object OBJ from the outside (i.e., the outer circumference). In this embodiment, the object OBJ is tableware. The tableware has a truncated cone shape, such as a ramen bowl, where the diameter increases towards the top (Z-axis direction in the figure). However, as will be described later, the gripping mechanism 1 can also grip objects of other shapes.

[0038] Figure 9 shows the second state when the gripping mechanism 1 grips the object OBJ. The control device 100, described later, controls the end effector 2 to press the first gripping part 11 and the second gripping part 12 of the gripping mechanism 1 against the outside (i.e., the outer circumference) of the object OBJ. Then, the elastic sheet 118 and elastic sheet 128, and the low friction sheet 119 and low friction sheet 129 first come into contact with the largest diameter portion of the object OBJ (see the arrows labeled reference numerals P1 and P2 in the figure).

[0039] The control device 100, described later, controls the end effector 2 to further press the first gripping portion 11 and the second gripping portion 12 of the gripping mechanism 1 against the outside (i.e., outer circumference) of the object OBJ to be gripped. As a result, the elastic sheets 118 and 128, and the low-friction sheets 119 and 129 deform and conform to the side shape of the object OBJ to be gripped. The portions of the elastic sheets 118 and 128, and the low-friction sheets 119 and 129 near where the cushions 117 and 127 are placed come into contact with the side surface of the object OBJ to be gripped.

[0040] Figure 10 shows the third state when the gripping mechanism 1 grips the object OBJ. The control device 100, described later, controls the end effector 2 to further press the first gripping part 11 and the second gripping part 12 of the gripping mechanism 1 against the outside (i.e., the outer circumference) of the object OBJ. As a result, the first gripping part 11 and the second gripping part 12 rotate outward around the rotation axis 111 and rotation axis 121, respectively, against the biasing force of the torsion springs 116 and 126. In the figure, the rotation axis 111 and rotation axis 121 extend in the X-axis direction. The rotation direction of the first gripping part 11 and the second gripping part 12 is indicated by the arrows labeled reference numeral R1 and reference numeral R2 in the figure.

[0041] The object OBJ to be gripped is sandwiched from both sides by cushions 117 and 127, elastic sheets 118 and 128, and low-friction sheets 119 and 129. Here, because the low-friction sheets 119 and 129 have low frictional force, when the first gripping part 11 and the second gripping part 12 are further pressed against the outside (i.e., the outer circumference) of the object OBJ to be gripped, the object OBJ slides along its slope. As a result, the object OBJ to be gripped moves in the direction in which the rigid stoppers 115 and 125 are located. In the illustrated example, the object OBJ to be gripped moves in the Z-axis direction in the figure. The state after this movement is shown in Figure 11.

[0042] Figure 11 shows the fourth state when the gripping mechanism 1 grips the object OBJ. The edges of the object OBJ are in contact with the rigid stoppers 115 and 125, preventing further movement in the Z-axis direction. As a result, the object OBJ is stably gripped by being sandwiched between members positioned on the first ends of the first gripping section 11 and the second gripping section 12, and members positioned on the second ends of the first gripping section 11 and the second gripping section 12. The members positioned on the first ends of the first gripping section 11 and the second gripping section 12 are the rigid stoppers 115 and 125. The members positioned on the second ends of the first gripping section 11 and the second gripping section 12 are the cushions 117 and 127, the elastic sheets 118 and 128, and the low-friction sheets 119 and 129.

[0043] Figure 12 shows an example of gripping an object OBJ by the gripping mechanism 1. Figure 13 shows an example of gripping an object OBJ by the gripping mechanism 1. Figure 14 shows an example of gripping an object OBJ by the gripping mechanism 1.

[0044] As shown in Figures 12 and 13, the gripping mechanism 1 according to this embodiment can stably grip multiple types of objects to be gripped OBJ that have different heights and different side shapes. This is because the rigid stoppers 115 and 125 positioned on the upper side in the figures hold the object to be gripped OBJ linearly (i.e., linearly along the X-axis), and the portions of the elastic sheets 118 and 128 near the lower side in the figures, along with the cushions 117 and 127, fit the shape of the object to be gripped OBJ and hold it with a surface. Furthermore, even if the side surface of the object to be gripped OBJ is not linear, the elastic sheets 118 and 128 deform along the side shape of the object to be gripped OBJ, so the elastic sheets 118 and 128 adhere closely to the object to be gripped OBJ and can stably grip the object to be gripped OBJ.

[0045] Furthermore, as shown in Figure 14, the gripping mechanism 1 according to this embodiment can stably grip even generally cylindrical objects OBJ that do not have a slope on their sides. The frictional force is greater in the portions of the elastic sheets 118 and 128 that are close to the cushions 117 and 127. Therefore, the cushions 117 and 127 press the elastic sheets 118 and 128 against the objects OBJ, allowing the objects OBJ to be stably gripped by frictional force.

[0046] In addition, although not shown in the illustrations, the gripping mechanism 1 according to this embodiment can also grip objects that have a truncated cone shape, such as an inverted ramen bowl, where the diameter decreases towards the top.

[0047] The gripping mechanism 1 according to this embodiment can also grip various other objects such as vases, flowerpots, beer bottles, measuring cups, fire extinguishers, paper cartons, and plastic bottles.

[0048] The gripping mechanism 1 according to this embodiment can, in particular, grip an object with an irregular shape that is lying on the ground. Conventionally, objects with such irregular shapes have been difficult to grip.

[0049] Figure 15 is a block diagram showing an example of the hardware configuration of the control device 100. The control device 100 comprises a processor 101, a memory 102, an input device 103, an end effector connection unit 105, a communication device 106, and an input / output interface 107.

[0050] Processor 101 includes components such as CPU (Central Processing Unit), MPU (Micro Processing Unit), GPU (Graphical Processing Unit), and DSP (Digital Signal Processor). Processor It is configured using either a 3D printer or an FPGA (Field Programmable Gate Array). The processor 101 works in cooperation with the memory 102 to perform various processes and controls in the control device 100. For example, the processor 101 acquires various feedback information from the end effector 2 via the end effector connection unit 105, generates control signals to control the operation of the end effector 2, and transmits them to the end effector 2.

[0051] Memory 102 includes, for example, RAM (Random Access Memory) used as work memory when executing processing by processor 101, and ROM (Read Only Memory) which stores a program that defines the processing of processor 101. Data generated or acquired by processor 101 is temporarily stored in RAM. A program that defines the processing of processor 101 is written to ROM. Memory 102 may store operation content information, which is information that defines the content of the operation that end effector 2 should perform. Operation content information includes, for example, a program for end effector 2 to perform a certain operation.

[0052] The input device 103 is a device for the user to input information. Specifically, the input device 103 may be a keyboard, mouse, teaching pendant, etc. The input device 103 may also be a device other than a keyboard, mouse, or teaching pendant.

[0053] The end effector connection section 105 is configured using an input / output circuit that has the function of connecting the end effector 2 and the control device 100. Information is transmitted between, for example, the processor 101 and the end effector 2 via the end effector connection section 105.

[0054] The communication device 106 has general functions for communicating information with external devices via a communication network 108, such as the Internet.

[0055] The input / output interface 107 is interposed between the memory 102, input device 103, end effector connection unit 105, and communication device 106 and the processor 101, and has the function of inputting and outputting data between them.

[0056] The control device 100 may further include components other than those described above.

[0057] As described above, the gripping mechanism 1 according to this embodiment comprises a pair of gripping parts (specifically, a first gripping part 11 and a second gripping part 12) that face each other. Each of the pair of first gripping parts 11 and second gripping parts 12 is provided with a projection (specifically, a rigid stopper 115, 125) at its first end. Each of the pair of first gripping parts 11 and second gripping parts 12 is rotatable around a rotation axis 111, 121 provided on the second end side opposite to the first end of each of the first gripping parts 11 and second gripping parts 12. Each of the pair of first gripping parts 11 and second gripping parts 12 faces each other in a direction intersecting the direction in which the rotation axes 111, 121 extend. As a result, the gripping mechanism 1 can slide its first gripping part 11 and second gripping part 12 against the object OBJ to be gripped, and clamp the object OBJ between the projection (rigid stopper 115, 125) and the first gripping part 11 and second gripping part 12. Therefore, the gripping mechanism 1 can stably grip the object OBJ.

[0058] Furthermore, each of the pair of first gripping parts 11 and second gripping parts 12 is further provided with corresponding cushions 117 and 127. Each of the cushions 117 and 127 is provided in a direction parallel to the corresponding rotation axis 111 and 121, and on the side facing the other opposing second gripping part 12 and first gripping part 11. This allows the gripping mechanism 1 to softly receive the object OBJ to be gripped, thereby enabling stable gripping of the object OBJ. In addition, the external force received by the cushions 117 and 127 from the object OBJ does not cause rotation of the first gripping part 11 and second gripping part 12 around the rotation axis 111 and 121. Therefore, when gripping, the relative positions of the first gripping part 11 and second gripping part 12 with respect to the object OBJ do not shift in the rotational direction. Consequently, the gripping mechanism 1 can grip the object OBJ even more stably.

[0059] Furthermore, each of the pair of first gripping parts 11 and second gripping parts 12 is further provided with corresponding elastic sheets 118 and 128 on the side facing the other second gripping part 12 and first gripping part 11. As a result, the elastic sheets 118 and 128 adhere closely to the object OBJ to be gripped, allowing the gripping mechanism 1 to grip the object OBJ more stably.

[0060] Furthermore, in each of the pair of first gripping parts 11 and second gripping parts 12, the friction of the elastic sheets 118 and 128 is smaller on the first end side of each of the first gripping parts 11 and second gripping parts 12 than on the second end side opposite to the first end side. As a result, the object to be gripped OBJ can move more easily toward the projection (specifically, the rigid stoppers 115 and 125), and the gripping mechanism 1 can grip the object to be gripped OBJ more stably.

[0061] Furthermore, the projections (for example, rigid stoppers 115) are provided on the second frame 113 and the third frame 114, which are equipped with perforated rings 1131 and 1141 through which the rotating shaft 111 passes. The first end of the first gripping portion 11 on the second frame 113 and the third frame 114 is bent toward the opposing second gripping portion 12. As a result, the projections (for example, rigid stoppers 115) tilt toward the object being gripped. Therefore, if the object being gripped slides upward (in the Z-axis direction), it is prevented from coming off the projections (for example, rigid stoppers 115).

[0062] Furthermore, the end effector 2 is equipped with the gripping mechanism 1 described above. This provides an end effector 2 that can stably grip the object OBJ to be gripped.

[0063] Although various embodiments have been described above with reference to the drawings, it goes without saying that this disclosure is not limited to such examples. It is clear to those skilled in the art that various modifications, alterations, substitutions, additions, deletions, and equivalents can be conceived within the scope of the claims, and these are also understood to fall within the technical scope of this disclosure. Furthermore, the components of the various embodiments described above can be combined arbitrarily without departing from the spirit of the invention. [Industrial applicability]

[0064] This disclosure is useful as a gripping mechanism and end effector that can stably grip an object to be gripped. [Explanation of Symbols]

[0065] 1 Gripping mechanism 2 End Effectors 3. Robot Arm 11 First grip part 12 Second grip part 21 1st finger 22 2nd finger 23 Base 51, 52 Connecting members 100 Control device 101 Processors 102 memory 103 Input device 105 End effector connection section 106 Communication equipment 107 Input / Output Interfaces 108 Communication Networks 111, 121 Rotation axis 112, 122 First Frame 113, 123 2nd frame 114, 124 3rd frame 115, 125 Rigid Stopper 116, 126 Torsion springs 117, 127 cushions 118, 128 Elastic Sheets 119, 129 Low friction sheet 1131, 1141 Perforated ring

Claims

1. It comprises a pair of gripping parts, including a first gripping part and a second gripping part that face each other, Each of the first gripping portion and the second gripping portion is, The first end and, The second end, which is opposite to the first end, The projection provided at the first end, The rotating shaft provided at the second end, The first frame connected to the projection and the rotating shaft, A cushion provided on the first frame, The cushion comprises an elastic sheet provided on the cushion, The aforementioned projection is rotatable about the rotation axis, The first gripping portion and the second gripping portion face each other in a direction intersecting the direction in which the rotation axis extends, When the relative position of the first gripping part and the second gripping part changes, the relative position of the respective rotation axes of the first gripping part and the second gripping part also changes. The projection of the first gripping portion and the projection of the second gripping portion protrude in the direction in which the first gripping portion and the second gripping portion are facing each other. The cushion is provided between the first frame and the elastic sheet. Gripping mechanism.

2. The elastic sheet has a first end side closer to the first end and a second end side closer to the second end, The friction at the first end of the elastic sheet is less than the friction at the second end of the elastic sheet. The gripping mechanism according to claim 1.

3. The elastic sheet has a first end side closer to the first end and a second end side closer to the second end, The elastic sheet comprises a friction sheet attached to the first end side of the elastic sheet, the friction sheet having less friction than the elastic sheet. The gripping mechanism according to claim 1.

4. It comprises a pair of gripping parts, including a first gripping part and a second gripping part that face each other, Each of the first gripping portion and the second gripping portion is, The first end and, The second end, which is opposite to the first end, The projection provided at the first end, It comprises a rotating shaft provided at the second end, The aforementioned projection is rotatable about the rotation axis, The first gripping portion and the second gripping portion face each other in a direction intersecting the direction in which the rotation axis extends, The projection of the first gripping portion and the projection of the second gripping portion protrude in the direction in which the first gripping portion and the second gripping portion are facing each other. Each of the first gripping portion and the second gripping portion has a perforated ring through which the rotating shaft passes, and further comprises a second frame connected to the projection, The second frame has a first end connected to the projection and a second end connected to the rotating shaft. The first end of the second frame of the first gripping portion is curved toward the second gripping portion. Gripping mechanism.

5. Each of the first gripping portion and the second gripping portion has a perforated ring through which the rotating shaft passes, and further comprises a third frame connected to the projection, The third frame has a first end connected to the projection and a second end connected to the rotating shaft. The first end of the third frame of the first gripping portion is bent toward the second gripping portion. The aforementioned projection is provided between the second frame and the third frame. The gripping mechanism according to claim 4.

6. A gripping mechanism comprising the one described in any one of claims 1 to 5, End effector.

7. The first finger connected to the first gripping portion, The second finger connected to the second gripping part, The system further comprises a base connected to the first and second fingers, Each of the first and second fingers is rotatable with respect to the base about an axis perpendicular to the direction in which the rotation axis extends. The end effector according to claim 6.

Images