Gripping mechanism and transport device

Abstract

[Problem] To strongly grip an object while preventing interference with other adjacent objects. [Solution] A gripping mechanism according to the present invention is used for sandwiching and gripping an object, wherein the gripping mechanism is characterized by comprising at least two or more rotation-fixing parts capable of contacting an object, and a rotation control unit for controlling the rotation operation of each of the rotation-fixing parts, and the gripping mechanism is further characterized in that rotating the at least two or more rotation-fixing parts brings the rotated rotation-fixing parts into contact with the object and causes the rotation-fixing parts to grip the object. Additionally, a transport device according to the present invention has the gripping mechanism according to the present invention, the transport device being characterized by moving the object gripped by the gripping mechanism.

Description

Grip mechanism and transport device

[0001] The present invention relates to a gripping mechanism and a conveying device, and can be applied, for example, to a gripping mechanism that grips an object with two or more gripping parts, and a conveying device that conveys the object gripped by the gripping mechanism.

[0002] For example, the probe substrate of the probe card has a large number of probes (electrical contacts), and a transport device equipped with a gripping mechanism is used to attach or detach the probes to or from the probe substrate.

[0003] FIG. 3A is an explanatory diagram for explaining gripping by the gripping mechanism, and FIG. 3B is an explanatory diagram for explaining release of the gripping by the gripping mechanism.

[0004] In this example, the gripping mechanism 90 has two gripping pieces 91 and 92, and a case will be described in which the two gripping pieces 91 and 92 grip a probe as the object 2.

[0005] 3A, when the probe is attached as the object 2, the two gripping pieces 91 and 92 are moved while being spaced apart from each other, and are moved so that the probe is between the two gripping pieces 91 and 92. Then, one of the gripping pieces 91 is moved so that it approaches the other gripping piece 92, and the two gripping pieces 91 and 92 sandwich the probe between them. This allows the gripping mechanism 90 to grip the probe.

[0006] Thereafter, while being held by the holding mechanism 90, the probe is moved to the position of the attachment hole 31 on the probe substrate 3. Then, the probe is inserted into the attachment hole 31 on the probe substrate 3 and attached.

[0007] After the attachment is completed, as shown in FIG. 3B, the position of one of the gripping pieces 91 is moved so that the one of the gripping pieces 91 moves away from the other of the gripping pieces 92, thereby releasing the grip.

[0008] Japanese Patent Application Laid-Open No. 2004-050321

[0009] However, a large number of probes are arranged on the probe base plate 3. Therefore, the distance between adjacent probes is narrow, and when one of the gripping pieces 92 is moved, the gripping piece 91 may interfere with the adjacent probe (see FIG. 4).

[0010] Although the example is given in which the object is a plate-shaped probe, the object is not limited to a probe, and similar problems may arise when gripping other plate-shaped members.

[0011] Therefore, there is a strong demand for a gripping mechanism that can firmly grip an object such as a plate-like member while preventing interference with adjacent objects, and a conveying device that includes such a gripping mechanism.

[0012] In order to solve such problems, the first gripping mechanism of the present invention is a gripping mechanism that clamps and grips an object, and is characterized in that it comprises (1) at least two or more rotating and fixing parts that can contact the object, and (2) a rotation control part that controls the rotational operation of each rotating and fixing part, and by rotating at least two or more rotating and fixing parts, the rotated rotating and fixing parts are brought into contact with the object, thereby gripping the object.

[0013] A transport device according to a second aspect of the present invention is characterized by having the gripping mechanism according to the first aspect of the present invention and moving an object gripped by the gripping mechanism.

[0014] According to the present invention, an object such as a plate-like member can be firmly gripped while preventing interference with adjacent objects.

[0015] FIG. 1 is a configuration diagram showing the detailed configuration of a first gripping unit and a second gripping unit according to an embodiment. FIG. 2 is a configuration diagram showing the configuration of a conveying device according to an embodiment. FIG. 3 is a configuration diagram showing the configuration of a conventional gripping mechanism. FIG. 4 is an explanatory diagram explaining the problems of the conventional gripping mechanism. FIG. 5 is an explanatory diagram explaining the gripping operation of the gripping mechanism according to an embodiment. FIG. 1 is a configuration diagram showing the configuration of a gripping unit of a gripping mechanism according to a modified embodiment. FIG. 2 is a configuration diagram showing the configuration of a gripping unit of a gripping mechanism according to a modified embodiment. FIG. 3 is an explanatory diagram explaining gripping when a through-hole is provided in an object according to a modified embodiment. FIG. 4 is a configuration diagram showing the configuration of a gripping unit of a gripping mechanism according to a modified embodiment.

[0016] (A) Main Embodiments Hereinafter, embodiments of a gripping mechanism and a transport device according to the present invention will be described in detail with reference to the drawings.

[0017] In this embodiment, the object to be grasped is a plate-shaped member.

[0018] (A-1) Configuration of the embodiment (A-1-1) Configuration of the conveying device 1 Fig. 2 is a diagram showing the configuration of the conveying device according to the embodiment. In Fig. 2, the conveying device 1 of the embodiment has an arm unit 14, a control unit 15, a base unit 16, and a gripping mechanism 10.

[0019] The transport device 1 transports an object 2 gripped by a gripping mechanism 10. In the example of Fig. 2, the transport device 1 is an articulated device having multiple joints, but the transport device 1 can be widely applied to any device equipped with a gripping mechanism 10, without being limited to the configuration illustrated in Fig. 2.

[0020] The control unit 15 controls the operation of each of the arm unit 14 and the gripping mechanism 10. The control unit 15 includes, for example, a CPU, a ROM, a RAM, an EEPROM, etc., and controls the operation of the arm unit 14 and the operation of the gripping mechanism 10 of the conveying device 1 by the CPU executing a processing program. That is, the control unit 15 has, as its functions, a conveying control unit 151 that controls the operation of the arm unit 14, and a gripping control unit 152 that controls the operation of the gripping mechanism 10.

[0021] The arm unit 14 includes a first link 181 , a second link 182 , a third link 183 , a fourth link 184 , a first joint unit 171 , a second joint unit 172 , and a third joint unit 173 .

[0022] The first link 181 is a member that connects the base portion 16 and the first joint portion 171, the second link 182 is a member that connects the first joint portion 171 and the second joint portion 172, and the third link 183 is a member that connects the second joint portion 172 and the third joint portion 173.

[0023] The fourth link 184 is a member that is connected to the third joint portion 173, and is provided with a gripping mechanism 10 at one end of the fourth link 184.

[0024] The first joint 171, the second joint 172, and the third joint 173 each operate under the control of the conveyance control unit 151 of the control unit 15, and move the links (first link 181, second link 182, third link 183, and fourth link 184) to which the first joint 171, the second joint 172, and the third joint 173 are respectively connected.

[0025] The gripping mechanism 10 is provided at the tip of the fourth link 184, and under the control of the gripping control unit 152 of the control unit 15, grips the object 2 with the first gripping unit 11 and the second gripping unit 12 described below.

[0026] Here, the object 2 is, for example, a plate-shaped object, and has a first side surface 21 and a second side surface 22 as shown in FIG. 1 . The material of the object 2 is not particularly limited. For example, a plate-shaped probe (electrical contactor) attached to a probe card can be used as the thin object 2. Furthermore, the object 2 is not limited to a plate-shaped object, and can also be a long, thin rod-shaped object.

[0027] (A-1-2) Configuration of the gripping mechanism 10 In FIG. 2, the gripping mechanism 10 according to the embodiment has a main body 130, a first rotation drive unit 120A, a second rotation drive unit 120B, a first gripping unit 110A, and a second gripping unit 110B.

[0028] The main body 130 is a base of the gripping mechanism 10. The first rotation drive unit 120A and the second rotation drive unit 120B are provided on one side of the main body 130, and the other side of the main body 130 (the side on which the first gripping unit 110A and the second gripping unit 110B are not provided) is attached to the tip of the fourth link 184.

[0029] The first rotary drive unit 120A and the second rotary drive unit 120B basically have the same configuration, and when describing the common configuration without distinguishing between them, they will be referred to as rotary drive unit 120.

[0030] The first rotation drive unit 120A supports the first gripping unit 110A, which has an approximately cylindrical shape, and rotates the first gripping unit 110A under the control of the gripping control unit 152 so that the first gripping unit 110A can clamp and fix or release the object 2.

[0031] Like the first rotation drive unit 120A, the second rotation drive unit 120B also supports the second gripping unit 110B, which has an approximately cylindrical shape, and rotates the second gripping unit 110B under the control of the gripping control unit 152 so that the second gripping unit 110B can clamp and fix or release the object 2.

[0032] The first gripping unit 110A and the second gripping unit 110B rotate under the control of the first rotation driving unit 120A and the second rotation driving unit 120B, thereby clamping and fixing the object 2.

[0033] The configuration of the first gripping portion 110A and the second gripping portion 110B will be described in detail with reference to Fig. 1. The first gripping portion 110A and the second gripping portion 110B basically have the same configuration, and when describing the common configuration without distinguishing between them, they will be referred to as gripping portion 110.

[0034] FIG. 1 is a diagram showing the detailed configuration of a first gripping unit 110A and a second gripping unit 110B according to the embodiment.

[0035] Fig. 1(A) is a diagram showing a state in which a first gripping unit 110A and a second gripping unit 110B are gripping an object 2. Fig. 1(B) is a structural diagram of the second gripping unit 110B when viewed from the direction of arrow B in Fig. 1(A), and Fig. 1(C) is a structural diagram of the second gripping unit 110B when viewed from the direction of arrow C in Fig. 1(A).

[0036] As shown in Figures 1(A) to 1(C), the gripping portion 110 (110A, 110B) according to the embodiment has a main body portion 113 (113A, 113B), and a first rotation fixing portion 111 (111A, 111B) and a second rotation fixing portion 112 (112A, 112B) provided on one end surface 114 of the main body portion 113.

[0037] That is, a pair of rotation fixing portions 111 and 112 are provided on a first end surface 114 of a main body portion 113 of the grip portion 110 .

[0038] The main body 113 of the gripping part 110 is a substantially cylindrical rod-shaped member, and is made of, for example, a metal (e.g., copper, copper alloy, etc.) or synthetic resin that has a hardness sufficient not to scratch the surface of the object 2. The other end of the main body 113 of the gripping part 110 is supported by the rotation drive part 120.

[0039] When the main body 113 receives a driving force from the rotation drive unit 120 (see FIG. 2 ), it rotates around its axis (around an axis substantially parallel to the Z axis) in either a first direction (for example, clockwise) or a second direction (for example, counterclockwise), and accordingly, the pair of rotation fixing units 111 and 112 supported by the main body 113 rotate in conjunction with the main body 113. In this way, the entire grip unit 110 rotates due to the driving force from the rotation drive unit 120.

[0040] That is, the rotation drive unit 120 can apply a rotation drive force to each of the rotation fixing units 111 and 112 in accordance with instructions from the transport control unit 151. Note that although the main body 113 will be described as being a substantially cylindrical member, it may also be a member such as a polygonal prism having a triangular or higher polygonal shape, or an elliptical cylinder.

[0041] The first rotational fixing portion 111 and the second rotational fixing portion 112 are each a plate-like member having a substantially elliptical cross section and a substantially elliptical cylinder shape. As shown in FIGS. 1A to 1C, the first rotational fixing portion 111 and the second rotational fixing portion 112, which are plate-like members, are provided facing each other at a predetermined distance. In the gripping portion 110, the object 2 is positioned between the pair of rotational fixing portions 111 and 112, and the entire gripping portion 110 is rotated, so that the first rotational fixing portion 111 and the second rotational fixing portion 112 come into contact with the object 2 while sandwiching the object 2 between them, and further rotation applies a rotational force to the object 2, thereby fixing the object 2. The gripping operation will be described later.

[0042] The cross section of each of the first rotational fixing portion 111 and the second rotational fixing portion 112 as plate-like members is not limited to an elliptical shape, and may be, for example, a rectangular, semicircular, semi-elliptical, crescent, or the like.

[0043] The distance between the first rotational fixing part 111 and the second rotational fixing part 112, which are spaced apart, is slightly greater than the thickness (plate thickness) of the plate-like member of the object 2. The lengths (lengths in the Z-axis direction) of the first rotational fixing part 111 and the second rotational fixing part 112 can be determined according to the dimensions (particularly the length in the Z-axis direction) of the object 2 to be grasped.

[0044] In addition, the longitudinal dimensions of the pair of rotation fixing parts 111 and 112 may be selected in accordance with the height dimension of the target object 2 .

[0045] Furthermore, the dimensions of the first rotational fixing part 111 and the second rotational fixing part 112 in a direction perpendicular to the longitudinal direction are set to fit within the plane of the first end face 114 of the main body part 113. In other words, when the gripping part 110 rotates, the dimensions of the first end face 114 of the main body part 113 become the maximum movable range of the gripping part 110 that grips the object 2.

[0046] Furthermore, as shown in Figures 1(B) and 1(C), when multiple objects 2 are arranged, when an object 2 is placed between the first rotational fixing unit 111 and the second rotational fixing unit 112 to grasp the object 2, the first rotational fixing unit 111 or the second rotational fixing unit 112 does not come into contact with another object 2 adjacent to the object 2.

[0047] For example, as shown in FIG. 1C , the distance between a given object 2 and another adjacent object 2 is defined as "L1," and the length from the position of the second side surface 22 of the object 2 to the end point of the first end surface 114 of the main body 113, in terms of the diameter of the first end surface 114 of the main body 113, is defined as "L2." In this embodiment, L1 > L2 is set so as not to come into contact with the adjacent object 2. In this way, the cross-sectional dimension of the main body 113 of the gripping unit 110 is the maximum movable range of gripping by rotation, thereby avoiding interference with the adjacent object 2.

[0048] First rotation fixing part 111 and second rotation fixing part 112 are each formed from a material such as a metal (e.g., copper, copper alloy, etc.) or synthetic resin that has a hardness sufficient not to damage the surface of object 2. Note that main body part 113 and first rotation fixing part 111 and second rotation fixing part 112 may each be made of the same material, or may each be made of different materials.

[0049] The first rotational fixing portion 111 and the second rotational fixing portion 112 only need to be fixed to the first end face 114 of the main body portion 113 of the gripping portion 110, and may be physically integrated with the main body portion 113 or may be detachable.

[0050] (A-2) Operation of the Embodiment (A-2-1) Operation of the Grip Mechanism Next, the gripping operation of the grip mechanism 10 according to the embodiment will be described in detail with reference to the drawings.

[0051] The gripper 110 can move up and down along the Z axis. For example, by providing a sensor (not shown) that detects contact between the first end surface 114 of the main body 113 of the gripper 110 and the target object 2, the position of the gripper 110 in the Z axis direction can be maintained (see FIG. 1B ). In other words, after detecting contact between the first end surface 114 of the main body 113 and the target object 2, the position of the gripper 110 in the Z axis direction is maintained, and then rotation control, which will be described later, is performed.

[0052] In addition, when the gripping portion 110 is positioned above the object 2, the gripping portion 110 can be lowered a predetermined distance to position the object 2 between the pair of rotational fixing portions 111 and 112, and then the rotation control of the object 2 described below can be performed.

[0053] FIG. 5 is an explanatory diagram illustrating the gripping operation of the gripping mechanism 10 according to the embodiment.

[0054] Figure 5 (A) shows two first gripping portions 110A and two second gripping portions 110B rotating in the same direction in conjunction with each other relative to the object 2, so that the two first gripping portions 110A and two second gripping portions 110B grip the object 2.

[0055] On the other hand, Figure 5 (B) shows the state in which the two gripping portions 110A and 110B that were gripping the object 2 rotate in opposite directions, releasing their grip on the object 2.

[0056] As illustrated in Figure 5 (A), when the first gripping portion 110A rotates in a first direction, the tips of the first rotating and fixing portion 111A and the second rotating and fixing portion 112A each come into contact with the object 2 at two points, namely, contact point CA1 on the first side surface 21 of the object 2 and contact point CA2 on the second side surface 22, and by further rotating, the tips of the first rotating and fixing portion 111A and the second rotating and fixing portion 112A can support the object 2 while clamping it.

[0057] Similarly, the second gripping portion 110B also rotates in the first direction in unison, and the tips of the first rotational fixing portion 111B and the second rotational fixing portion 112B contact the object 2 at two points, CB1 on the first contact side surface 21 and CB2 on the second contact side surface 22, and by further rotating, the tips of the first rotational fixing portion 111B and the second rotational fixing portion 112B can support the object 2 while clamping it.

[0058] Furthermore, the object 2 can be supported at four points, namely, contact points CA1, CA2, CB1, and CB2, by the two first gripping portions 110A and the second gripping portion 110B.

[0059] 5A , the second rotation fixing part 112A supports the object 2 from the right side at contact point CA2, the first rotation fixing part 111A supports the object 2 from the left side at contact point CA1, and subsequently the second rotation fixing part 112B supports the object 2 from the right side at contact point CB2, and the first rotation fixing part 111B supports the object 2 from the left side at contact point CB1. In other words, by rotating the first gripping part 110A and the second gripping part 110B in the same direction, contact points that support the object 2 can be provided alternately on the left and right, allowing the object 2 to be supported in a well-balanced manner.

[0060] In this embodiment, the example illustrates a case where the two gripping portions, the first gripping portion 110A and the second gripping portion 110B, rotate in the same direction, but the gripping portions may rotate in different directions, such as the first gripping portion 110A rotating in a first direction and the second gripping portion 110B rotating in a second direction.

[0061] Here, the dimensions of first rotational fixing portion 111 and second rotational fixing portion 112 are smaller than the dimensions of first end face 114 of main body portion 113, so even when main body portion 113 of gripping portion 110 rotates, first rotational fixing portion 111 and second rotational fixing portion 112 can be prevented from interfering with adjacent object 2. In other words, the cross-sectional dimensions of main body portion 113 of gripping portion 110 are the maximum movable range of gripping due to rotation, so interference with adjacent object 2 can be avoided.

[0062] Furthermore, the distance between the first rotating fixing portion 111 and the second rotating fixing portion 112, which are spaced apart, can be adjusted to match the plate thickness of the object 2, as long as it is within the cross-sectional dimensions (e.g., the diameter if the cross section is circular) of the main body portion 113 of the gripping portion 110.

[0063] Here, it is preferable that the first rotational fixing portion 111 and the second rotational fixing portion 112 simultaneously come into contact with the object 2 due to the rotational action. By having the first rotational fixing portion 111 and the second rotational fixing portion 112 simultaneously come into contact with the object 2, deformation of the object 2 can be suppressed compared to when one of the rotational fixing portions 111 (112) comes into contact with the object 2 first.

[0064] Next, the gripping release operation will be described with reference to Fig. 5(B) As illustrated in Fig. 5(B) , the first gripping portion 110A and the second gripping portion 110B each rotate in a second direction (a rotation direction opposite to the first direction), causing contact between the contact points CA1, CA2, CB1, and CB2 to disappear, and the gripping is released.

[0065] Here, we will explain the rotation control by the grip control unit 152. The grip control unit 152 controls the rotation of the first rotation fixing unit 111 and the second rotation fixing unit 112 of the grip unit 110 in the first direction, and we will explain how and to what extent the rotation is performed.

[0066] As an example of this rotation control method, a method can be applied in which the angles (e.g., 15°) by which the first rotation fixing portion 111 and the second rotation fixing portion 112 are rotated are set in advance. This makes it possible to easily control the rotation both when gripping and when releasing the grip.

[0067] As another example, a method can be applied in which a sensor is provided to sense the pressure acting on the object 2, and the first rotating and fixing part 111 and the second rotating and fixing part 112 are rotated to grip the object, and the rotation is stopped when the sensed pressure value exceeds a grip detection threshold, and when the grip is released, the release is detected when the sensed pressure value becomes equal to or less than a grip release detection threshold.

[0068] (A-2-2) Operation of the Conveying Device In the conveying device 1 shown in FIG. 2, the gripping mechanism 10 grips the object 2, and the conveying control unit 151 controls the arm unit 14 to move the object 2.

[0069] (A-3) Modified embodiments Next, various modified embodiments have been described for the configuration of the gripping mechanism described above, but modified embodiments for strengthening the gripping force or preventing deformation (e.g., bending) of the object to be transported will be described.

[0070] (A-3-1) Example of Configuration for Strengthening Gripping Force FIG. 6 is a diagram showing the configuration of a gripping section of a gripping mechanism according to a modified embodiment.

[0071] FIG. 6 shows a gripping mechanism according to a modified embodiment that includes two gripping sections 210: a first gripping section 210A and a second gripping section 210B.

[0072] The first gripping portion 210A and the second gripping portion 210B basically have the same configuration, and when describing the common configuration without distinguishing between them, they will be referred to as gripping portion 210.

[0073] The gripping unit 210 has a main body 213, a first rotational fixing unit 211, and a second rotational fixing unit 212, and differs from the gripping unit 110 of the above-described embodiment in that, as shown in Figure 6 (B), the first rotational fixing unit 211 and the second rotational fixing unit 212 each have a lower support unit 2111 that supports the object 2 from below to above the object 2.

[0074] 6(B), the first rotational fixing part 211 and the second rotational fixing part 212 are L-shaped plate-like members, and the lower horizontal parts of the first rotational fixing part 211 and the second rotational fixing part 212 respectively become the lower support part 2111 and the lower support part 2121. One surface of each of the lower support parts 2111 and 2121 is called the lower support surface 251 and 252, and these lower support surfaces 251 and 252 come into contact with the lower surface of the object 2 and support the object 2.

[0075] As shown in Fig. 6(C) , the dimensions of the L-shaped first rotational fixing part 211 and second rotational fixing part 212 are also within the cross-sectional dimensions of the main body part 213 of the gripping part 210. Therefore, the maximum movable range of the first rotational fixing part 211 and the second rotational fixing part 212 is within the cross-section of the main body part 213 of the gripping part 210, and interference with adjacent objects 2 can be avoided (see Figs. 6(D) and 6(E)).

[0076] In this way, the first rotating fixing part 211 and the second rotating fixing part 212 are provided with a lower support part 2111, and one surface of the lower support part 2111, the lower support surface 251, supports the object 2 from the underside, thereby strengthening the gripping force on the object 2.

[0077] As long as the object 2 can be supported from below, the shapes of the first rotation fixing part 211 and the second rotation fixing part 212 are not limited to an L-shape, but may be a U-shape or the like.

[0078] FIG. 7 is a diagram showing the configuration of a gripping section of a gripping mechanism according to another modified embodiment.

[0079] FIG. 7 shows a gripping mechanism according to a modified embodiment that includes two gripping portions: a first gripping portion 310A and a second gripping portion 310B.

[0080] The first gripping portion 310A and the second gripping portion 310B basically have the same configuration, and when describing the common configuration without distinguishing between them, they will be referred to as gripping portion 310.

[0081] The gripping portion 310 has a main body portion 313, a first rotational fixing portion 311, and a second rotational fixing portion 312, and as shown in Figure 7 (B), the first rotational fixing portion 211 and the second rotational fixing portion 212 each have an upper support portion 3112 that supports the upper surface of the object 2 and a lower support portion 3111 that supports the lower surface of the object 2.

[0082] As shown in Figure 7 (B), the first rotating fixing part 311 and the second rotating fixing part 312 are U-shaped plate-like members, one surface of the lower support part 3111 is called the lower support surface 351, and one surface of the upper support part 3112 is called the upper support surface 352, and these lower support surface 351 and upper support surface 352 contact the lower and upper surfaces of the object 2 to support the object 2.

[0083] 7(C), in this modified embodiment, the dimensions of first rotational fixing part 311 and second rotational fixing part 312 are also within the cross-sectional dimensions of main body part 313 of gripping part 310. Therefore, the maximum movable range of first rotational fixing part 311 and second rotational fixing part 312 is within the cross-section of main body part 313 of gripping part 310, and interference with adjacent objects 2 can be avoided (see FIGS. 7(D) and 7(E)).

[0084] In this way, the first rotating and fixing portion 311 and the second rotating and fixing portion 312 each have a lower support portion 3111 and an upper support portion 3112, and by supporting the object 2 from the bottom and top, the gripping force on the object 2 can be strengthened.

[0085] As long as the object 2 can be supported from below, the shapes of the first rotation fixing portion 311 and the second rotation fixing portion 312 are not limited to the shapes exemplified in FIG.

[0086] When gripping an object using the gripping portion 210 of FIG. 6(B) or the gripping portion 310 of FIG. 7(B), the object 2 may be provided with two through holes 34 and 35, as illustrated in FIG. 8(A).

[0087] As a result, when gripping the object 2 using the gripping portion 210 of Figure 6 (B), as illustrated in Figure 8 (B), the first rotation fixing portion 311 and the second rotation fixing portion 312 of the gripping portion 210 are inserted into the two through holes 34 and 35 of the object 2, respectively, and the entire gripping portion 210 is rotated, so that the lower support portions 2111 of the first rotation fixing portion 211 and the second rotation fixing portion 212 can support the supported portion 33 between the two through holes 34 and 35.

[0088] Also, when gripping the object 2 using the gripping portion 310 of Figure 7 (B), as illustrated in Figure 8 (C), the first rotation fixing portion 311 and the second rotation fixing portion 312 of the gripping portion 310 are inserted into the two through holes 34 and 35 of the object 2, respectively, and the entire gripping portion 310 is rotated, so that the lower support portion 3111 and the upper support portion 3112 of the first rotation fixing portion 311 and the second rotation fixing portion 312 can support the supported portion 33 between the two through holes 34 and 35.

[0089] (A-3-2) Prevention of Deformation of Object 2 FIG. 9 is a diagram showing the configuration of a gripping section of a gripping mechanism according to a modified embodiment.

[0090] FIG. 9 shows a gripping mechanism according to a modified embodiment that includes a total of three gripping sections 410: a first gripping section 410A, a second gripping section 410B, and a third gripping section 410C.

[0091] In this example, the first gripping portion 410A has one rotational fixing portion 412A, the second gripping portion 410B has two rotational fixing portions, a first rotational fixing portion 411B and a second rotational fixing portion 412B, and the third gripping portion 410C has one rotational fixing portion 411C.

[0092] 9A, in the gripping mechanism according to this modified embodiment, the rotation fixing portion 412A of the first gripping portion 410A contacts the target object 2 at a contact point C1, and the first rotation fixing portion 411B of the second gripping portion 410B contacts the target object 2 at a contact point C2. Furthermore, the second rotation fixing portion 412B of the second gripping portion 410B contacts the target object 2 at a contact point C3, and the rotation fixing portion 411C of the third gripping portion 410C contacts the target object 2 at a contact point C4.

[0093] 9(B), the line connecting contact point C1 and contact point C2 exists on the same plane perpendicular to the side surface of the upright plate-like member of object 2 (Y-axis direction). Therefore, the direction of the force acting on object 2 by rotation fixing part 412 of first gripping part 410A and the direction of the force acting on object 2 by first rotation fixing part 411B of second gripping part 410B are opposite and on the same straight line, so deformation of object 2 can be suppressed.

[0094] Similarly, the line connecting contact point C3 and contact point C4 exists on the same plane perpendicular to the side surface of object 2 (Y-axis direction). Therefore, the direction of the force acting on object 2 by second rotation fixing portion 412B of second gripping portion 410B and the direction of the force acting on object 2 by rotation fixing portion 411C of third gripping portion 410C are opposite and on the same straight line, so deformation of object 2 can be suppressed.

[0095] For example, in order to ensure that contact points C1 and C2 are on the same straight line, the tip of the rotating fixing portion 411 or 412 of each gripping portion 410, which comes into contact with the object 2, exceeds the range of the cross-sectional dimensions of the main body of each gripping portion.

[0096] Furthermore, when gripping the object 2 with the gripping portion 410, for example, by rotating the gripping portion 410 by a predetermined angle, it is possible to prevent the portions of the rotating and fixing portions 411 and 412 that extend horizontally from the main body from coming into contact with adjacent objects.

[0097] The gripping unit 410 is not limited to a configuration having only one rotation fixing unit 412 as shown in the figure, but may have a pair of rotation fixing units. Furthermore, the gripping mechanism 10 may have three or more gripping units 410.

[0098] (A-3-3) Modified Shape of Rotation Fixing Portion FIG. 10 is a diagram showing the configuration of the gripping portion of the gripping mechanism according to a modified embodiment.

[0099] FIG. 10 shows a gripping mechanism according to a modified embodiment that includes three gripping portions: a first gripping portion 510A, a second gripping portion 510B, and a third gripping portion 510C.

[0100] In this example, the first gripping portion 510A has one rotational fixing portion 512A, the second gripping portion 510B has two rotational fixing portions, a first rotational fixing portion 511B and a second rotational fixing portion 512B, and the third gripping portion 510C has one rotational fixing portion 511C.

[0101] In this modified embodiment, the tip of each of the rotation fixing portions 511 and 512 of each gripping portion 510 is beveled in order to increase the contact surface with the wall surface of the object 2 and strengthen the gripping force.

[0102] In Figure 10 (B), the configuration of the first rotational fixing portion 511B and the second rotational fixing portion 512B of the second gripping portion 510B is used for explanation, but the same applies to the rotational fixing portion 511 or 512 of the other gripping portion 510 (the first gripping portion 510A or the third gripping portion 510C).

[0103] 9A and 9B, rotation fixing portion 512A of first gripping portion 510A comes into contact with object 2 at contact point C11, and first rotation fixing portion 511B of second gripping portion 510B comes into contact with object 2 at contact point C12. Furthermore, second rotation fixing portion 512B of second gripping portion 510B comes into contact with object 2 at contact point C13, and rotation fixing portion 511C of third gripping portion 510C comes into contact with object 2 at contact point C14.

[0104] Therefore, as in the case described above, the contact points C11 and C12 and the contact points C13 and C14 are located opposite each other on the same straight line, so that deformation of the object 2 can be suppressed.

[0105] Furthermore, the first rotational fixing portion 511B has an inclined surface 5111, and the second rotational fixing portion 512B has an inclined surface 5121. This allows the contact surface with the wall surface of the object 2 to be widened, thereby increasing the gripping force.

[0106] (A-4) Effects of the embodiment As described above, according to a gripping mechanism equipped with at least two or more rotational fixing parts, each rotatable rotational fixing part rotates, and a single plate-like member is supported and fixed from the wall surface of an object to grip the object, thereby reducing interference with adjacent objects.

[0107] (B) Other Embodiments Although various modified embodiments have been mentioned in the above-described embodiment, the present invention can also be applied to the following modified embodiments.

[0108] (B-1) In the above-described embodiment, the case where at least two or more rotational fixing parts all rotate in a first direction when gripping an object in order to suppress deformation (bending, etc.) of the object has been exemplified, but the rotation directions of the at least two or more rotational fixing parts may be different directions. In other words, some may rotate in the first direction and others may rotate in the second direction.

[0109] (B-2) In the above-described embodiment, the rotating fixing part that comes into contact with the side surface of the object has a surface (contact surface), but this is not limited to this. In order to further strengthen the gripping force, the contact surface that comes into contact with the object may be provided with a finely jagged stopper.

[0110] 1: conveying device, 2: object, 21...first side surface, 22...second side surface, 3: probe substrate, 10: gripping mechanism, 11: first gripping portion, 12: second gripping portion, 14...arm portion, 15: control portion, 16: base portion, 18: first link, 31: mounting hole, 33: supported portion, 34 and 35: through holes, 90: gripping mechanism, 91 and 92: gripping pieces, 110 (110A, 110B): gripping unit, 111 (111A, 111B): rotation fixing unit, 112 (112A, 112B): rotation fixing unit, 113: gripping unit main body, 114: first end surface, 120 (120A, 120B): rotation driving unit, 130: main body, 151: conveyance control unit, 152: gripping control unit, 171: first joint unit, 172: second joint unit, 173: third joint unit, 181: first link, 182: second link, 183: third link, 184: fourth link, 210 (210A, 210B): Gripping part, 211 (211A, 211B): Rotation fixing part, 212: Rotation fixing part 213: Main body part, 2111: Lower support part, 251: Lower support surface, 310 (310A, 310B): Gripping part, 311 (311A, 311B): Rotation fixing part, 312: Rotation fixing part, 313: Main body part, 351: Lower support surface, 352: Upper support surface, 410 (410A, 410B, 410C): Grip part, 411 (, 411B, 411C): Rotation fixed part, 412 (412A, 412B): Rotation fixed part, 510 (510A, 510B, 510C): Grip part, 511 (511B, 511C): Rotation fixed part, 512 (512A, 512B): Rotation fixed part, 3111: Lower support part, 3112: Upper support part, 5111 and 5112: Slope, CA1, CA2, CB1, CB2, C1, C2, C3, C4, C11, C12, C13, C14: Contact.

Claims

1. A gripping mechanism that clamps and grips an object, comprising: at least two or more rotating and fixing parts that can come into contact with the object; and a rotation control part that controls the rotational operation of each of the rotating and fixing parts, wherein the gripping mechanism rotates at least two or more of the rotating and fixing parts, bringing the rotated rotating and fixing parts into contact with the object, thereby gripping the object.

2. The gripping mechanism according to claim 1, characterized in that it has at least two gripping parts, each of which is provided with a pair of rotating and fixing parts spaced apart from each other, and the at least two gripping parts sandwich the object between the pair of rotating and fixing parts and rotate the pair of rotating and fixing parts to support and grip the object.

3. The gripping mechanism described in claim 1, characterized in that it has at least two gripping parts each provided with one of the rotating and fixing parts, and by rotating the at least two rotating and fixing parts, the gripping parts pinch the object from both sides, support the object, and grip the object.

4. The gripping mechanism according to claim 1, characterized in that the gripping mechanism comprises a main body and a plurality of gripping parts each having the rotation fixing part on one end face of the main body, and the dimensions of the rotation fixing part are smaller than the dimensions of the end face of the main body.

5. The gripping mechanism according to claim 1, characterized in that the multiple rotating and fixing parts all rotate in the same direction to grip the object.

6. The gripping mechanism according to claim 1, characterized in that the rotation control unit rotates each of the rotation fixing units by a predetermined angle when gripping the object.

7. The gripping mechanism described in claim 1, further comprising a detection unit that detects the pressure acting on the object due to the rotational movement of each of the rotational fixing parts, and the rotation control unit controls the rotation of each of the rotational fixing parts based on the detection signal from the detection unit.

8. A gripping mechanism as described in claim 1, characterized in that when the multiple rotating and fixing parts contact the object to support the object, the contact points between the multiple rotating and fixing parts and the object are located at opposing positions.

9. The gripping mechanism according to claim 1, wherein the rotating and fixing portion is a member having an elliptical cross section.

10. The gripping mechanism according to claim 1, characterized in that the tip of the rotating and fixing part that supports the target part has a slope.

11. A conveying device comprising a gripping mechanism according to any one of claims 1 to 10, for moving an object gripped by said gripping mechanism.

Images