Gripping device, conveyance device, and gripping method

Abstract

The purpose of the present invention is to provide a gripping device that is compact and that can grip objects of differing shapes and sizes. A gripping device 100 according to the present invention comprises a first plate-shaped member 110, a second plate-shaped member 120, and a third plate-shaped member 130. The first plate-shaped member 110, the second plate-shaped member 120, and the third plate-shaped member 130 are disposed parallel to each other in this order. The gripping device 100 grips an object by sandwiching the object with the first plate-shaped member 110 and the second plate-shaped member 120, and also grips an object by sandwiching the object with the second plate-shaped member 120 and the third plate-shaped member 130. A width W3 at which gripping is possible by sandwiching an object with the first plate-shaped member 110 and the second plate-shaped member 120 differs from a width W2 at which gripping is possible by sandwiching an object with the second plate-shaped member 120 and the third plate-shaped member 130 (see fig. 1).

Description

Gripping device, conveying device, and gripping method

[0001] The present invention relates to a gripping device, a transport device, and a gripping method.

[0002] In automated assembly equipment such as analytical equipment, a variety of assembly objects are grasped by a grasping device attached to the tip of a manipulator.

[0003] Patent Document 1 discloses a robot hand having a gripping device. The robot hand in Patent Document 1 "includes a plate-shaped first clamping member, a plate-shaped second clamping member arranged on the outer periphery of the first clamping member, a plate-shaped third clamping member arranged on the opposite side of the outer periphery of the first clamping member to the second clamping member, and a support mechanism that supports the first clamping member and the second clamping member so that they can move toward and away from each other, and also supports the first clamping member and the third clamping member so that they can move toward and away from each other."

[0004] JP 2014-233807 A

[0005] In an automated assembly facility that handles a wide variety of assembly objects, it is necessary to change the gripping device appropriately to suit the shape and size of the object.

[0006] Therefore, an object of the present invention is to provide a gripping device, a transport device, and a gripping method that are capable of gripping objects of different shapes and sizes.

[0007] The gripping device of the present invention has a first plate-shaped member, a second plate-shaped member, and a third plate-shaped member, which are arranged in this order so that they are parallel to each other, and which grips an object by sandwiching it between the first plate-shaped member and the second plate-shaped member, and grips an object by sandwiching it between the second plate-shaped member and the third plate-shaped member, wherein a first clamping width at which the object can be sandwiched between the first plate-shaped member and the second plate-shaped member is different from a second clamping width at which the object can be sandwiched between the second plate-shaped member and the third plate-shaped member.

[0008] A transport device of the present invention includes the above-described gripping device and a manipulator to which the gripping device is attached.

[0009] In addition, the gripping method of the present invention includes gripping an object with the first plate-shaped member and the second plate-shaped member by bringing the first plate-shaped member and the second plate-shaped member, which are arranged parallel to each other, closer together, and gripping an object of a different width from the object with the second plate-shaped member and a third plate-shaped member, which is arranged parallel to the second plate-shaped member and has its position fixed, by separating the first plate-shaped member and the second plate-shaped member.

[0010] According to the present invention, it is possible to grip objects of different shapes and sizes. Problems, configurations, and effects other than those described above will become apparent from the following description of the embodiments.

[0011] 1 is a plan view showing the configuration of a gripping device 100. FIG. 2 is a side view showing the configuration of a transport device 200. FIG. 3 is a diagram showing a method for gripping an object A. FIG. 4 is a diagram showing a method for gripping an object B. FIG. 5 is a plan view showing the configuration of a gripping device 500.

[0012] The embodiments of the present invention will be described in detail with reference to the drawings. In the following embodiments, it goes without saying that the components (including element steps, etc.) are not essential unless otherwise specified or considered to be obviously essential in principle.

[0013] (Example 1) Fig. 1 is a plan view showing the configuration of a gripping device 100 of Example 1. Fig. 1(a) is a plan view showing a state in which a first plate-shaped member 110 and a second plate-shaped member 120 of the gripping device 100 are close to each other, and Fig. 1(b) is a plan view showing a state in which the first plate-shaped member 110 and the second plate-shaped member 120 of the gripping device 100 are separated from each other.

[0014] (Gripping device 100) The gripping device 100 includes a first plate-shaped member 110, a second plate-shaped member 120, a third plate-shaped member 130, a first protrusion 140, a second protrusion 150, an actuator 160, and a robot flange 170. The gripping device 100 grips an object by sandwiching it between the first plate-shaped member 110 and the second plate-shaped member 120, and grips an object by sandwiching it between the second plate-shaped member 120 and the third plate-shaped member 130. The object is, for example, a unit constituting an automatic analyzer that tests ion concentrations, tumor markers, etc. in biological samples. Note that the object is not limited to a unit constituting an automatic analyzer. The object gripped between the first plate-shaped member 110 and the second plate-shaped member 120 and the object gripped between the second plate-shaped member 120 and the third plate-shaped member 130 may have different shapes or sizes.

[0015] (First Plate-Shaped Member 110) The first plate-shaped member 110, second plate-shaped member 120, and third plate-shaped member 130 are arranged in this order so that they are parallel to one another. The first plate-shaped member 110 is a member with a substantially L-shaped horizontal cross section, and has a gripping surface 111 that grips an object, and an abutting portion 112 that abuts against the second plate-shaped member 120 when approaching the second plate-shaped member 120. The first plate-shaped member 110 is configured to be movable in a direction away from the second plate-shaped member 120 (X1 direction in the figure) and a direction approaching the second plate-shaped member 120 (X2 direction in the figure).

[0016] (Second Plate-Shaped Member 120) The second plate-shaped member 120 is a member having a substantially L-shaped horizontal cross section, and has a gripping surface 121 that grips the object together with the gripping surface 111 of the first plate-shaped member 110, a contact portion 122 that contacts the first plate-shaped member 110 when approaching the first plate-shaped member 110, and a gripping surface 123 that grips the object together with the third plate-shaped member 130. The second plate-shaped member 120 is configured to be movable in a direction away from the first plate-shaped member 110 (X2 direction in the figure) and in a direction approaching the first plate-shaped member 110 (X1 direction in the figure). The second plate-shaped member 120 may have the same shape as the first plate-shaped member, or may have a different shape.

[0017] (Third Plate-Shaped Member 130) The third plate-shaped member 130 is a flat plate-shaped member whose position is fixed. The third plate-shaped member 130 has a gripping surface 131 that grips the gripping surface 123 of the second plate-shaped member 120 and an object.

[0018] (First protrusion 140) The first protrusion 140 is fixed to the first plate-shaped member 110. The first protrusion 140 is configured to be movable integrally with the first plate-shaped member 110 in a direction away from the second plate-shaped member 120 (X1 direction in the figure) and a direction approaching the second plate-shaped member 120 (X2 direction in the figure). The first protrusion 140 protrudes toward the second plate-shaped member 120 beyond the gripping surface 111 of the first plate-shaped member 110. The first protrusion 140 abuts against the second protrusion 150 when approaching the second protrusion 150.

[0019] (Second protrusion 150) The second protrusion 150 is fixed to the second plate-shaped member 120. The second protrusion 150 is configured to be movable integrally with the second plate-shaped member 120 in a direction away from the first plate-shaped member 110 (direction X2 in the figure) and a direction approaching the first plate-shaped member 110 (direction X1 in the figure). The second protrusion 150 protrudes toward the first plate-shaped member 110 beyond the gripping surface 121 of the second plate-shaped member 120. The second protrusion 150 abuts against the first protrusion 140 when approaching the first protrusion 140.

[0020] When the first plate-shaped member 110 and the second plate-shaped member 120 approach each other, the first protrusion 140 and the second protrusion 150 come into contact with each other, thereby restricting the approach of the first plate-shaped member 110 and the second plate-shaped member 120.

[0021] In this embodiment, when the first plate-shaped member 110 and the second plate-shaped member 120 approach each other, the abutting portion 112 of the first plate-shaped member 110 and the abutting portion 122 of the second plate-shaped member 120 come into contact and the first protrusion 140 and the second protrusion 150 come into contact, but it is not necessary for both to come into contact. In other words, as long as the abutting portion 112 of the first plate-shaped member 110 and the abutting portion 122 of the second plate-shaped member 120 come into contact when the first plate-shaped member 110 and the second plate-shaped member 120 approach each other, the first protrusion 140 and the second protrusion 150 do not have to come into contact. Furthermore, when the first plate-shaped member 110 and the second plate-shaped member 120 approach each other, as long as the first protrusion 140 and the second protrusion 150 abut, the abutment portion 112 of the first plate-shaped member 110 and the abutment portion 122 of the second plate-shaped member 120 do not need to abut.

[0022] (Actuator 160 (Drive Mechanism)) The actuator 160 drives the first plate-shaped member 110 and the second plate-shaped member 120 so that the first plate-shaped member 110 and the second plate-shaped member 120 move closer to and away from each other. The actuator 160 may drive the first plate-shaped member 110 and the second plate-shaped member 120 by air pressure, for example, or may drive the first plate-shaped member 110 and the second plate-shaped member 120 by a stepping motor. When gripping an object with the first plate-shaped member 110 and the second plate-shaped member 120, the actuator 160 drives the first plate-shaped member 110 and the second plate-shaped member 120 so that the first plate-shaped member 110 and the second plate-shaped member 120 move closer to each other. In addition, when the second plate-shaped member 120 and the third plate-shaped member 130 grasp an object, the actuator 160 drives the first plate-shaped member 110 and the second plate-shaped member 120 so that the first plate-shaped member 110 and the second plate-shaped member 120 move apart.

[0023] By driving the first plate-shaped member 110 and the second plate-shaped member 120 with one actuator 160, it is possible to grasp an object both by the first plate-shaped member 110 and the second plate-shaped member 120, and by the second plate-shaped member 120 and the third plate-shaped member 130.

[0024] (Robot Flange 170) The robot flange 170 is provided for attaching the gripping device 100 to a manipulator, which will be described later.

[0025] (Clampable Width) When the first plate-shaped member 110 and the second plate-shaped member 120 approach each other and the abutting portion 112 and the abutting portion 122 abut (or the first protrusion 140 and the second protrusion 150 abut), the width between the gripping surface 111 of the first plate-shaped member 110 and the gripping surface 121 of the second plate-shaped member 120 is W1. In this case, the width between the gripping surface 123 of the second plate-shaped member 120 and the gripping surface 131 of the third plate-shaped member 130 is W2. Because the movement of the second plate-shaped member 120 in the direction away from the third plate-shaped member 130 (X1 direction) is restricted, the maximum clampable width (second clampable width) at which an object can be clamped between the second plate-shaped member 120 and the third plate-shaped member 130 is W2. In other words, the second plate-shaped member 120 and the third plate-shaped member 130 can grip an object with a width of 0 to W2.

[0026] When the first plate-shaped member 110 and the second plate-shaped member 120 are spaced apart from each other and the second plate-shaped member 120 abuts against the third plate-shaped member 130, the width between the gripping surface 111 of the first plate-shaped member 110 and the gripping surface 121 of the second plate-shaped member 120 is W3 (>W1). In this case, the gripping surface 123 of the second plate-shaped member 120 abuts against the gripping surface 131 of the third plate-shaped member 130. Because the movement of the second plate-shaped member 120 in the direction away from the first plate-shaped member 110 (X2 direction) is restricted, the maximum clampable width (first clampable width) at which the first plate-shaped member 110 and the second plate-shaped member 120 can clamp an object is W3, which is different from W2. In other words, the first plate-shaped member 110 and the second plate-shaped member 120 can grip an object having a width of W1 to W3.

[0027] Although the second plate-shaped member 120 has moved until it abuts against the third plate-shaped member 130, its movement may be restricted before it abuts against the third plate-shaped member 130.

[0028] (Transportation Device 200) Fig. 2 is a diagram showing the configuration of the transport device 200. The transport device 200 includes the gripping device 100 and a manipulator 201 (robot arm). The robot flange 170 of the gripping device 100 is attached to the tip of the manipulator 201. The transport device 200 grips an object 210 and transports it to a destination 220.

[0029] Two holes 113 corresponding to the two protrusions 211 of the object 210 are formed in the first plate-like member 110. The gripping device 100 grips the object 210 by fitting the two protrusions 211 of the object 210 into the two holes 113 of the first plate-like member 110. In this way, the protrusions 211 and the holes 113 define the position at which the object 210 is gripped, and the multiple protrusions 211 and holes 113 can prevent the object 210 from rotating.

[0030] The number of the protrusion 211 and the hole 113 may be one, or three or more.

[0031] 2 , holes 113 corresponding to protrusions 211 of the object 210 are formed in the first plate-like member 110, but when holes are formed in the object 210, protrusions corresponding to the holes in the object 210 may be formed in the first plate-like member 110. That is, it is sufficient that recesses or protrusions corresponding to the protrusions or recesses provided in the object 210 are formed in the first plate-like member 110. Furthermore, protrusions or recesses corresponding to the recesses or protrusions of the object may be formed in the second plate-like member 120 or the third plate-like member 130.

[0032] (Method of gripping using first plate-shaped member 110 and second plate-shaped member 120) Figure 3 is a diagram showing a method of gripping an object A using the first plate-shaped member 110 and the second plate-shaped member 120. As shown in (a) of Figure 3, first, the actuator 160 drives the first plate-shaped member 110 and the second plate-shaped member 120 so that the first plate-shaped member 110 and the second plate-shaped member 120 are spaced apart from each other. At this time, the width between the gripping surface 111 of the first plate-shaped member 110 and the gripping surface 121 of the second plate-shaped member 120 is greater than the width of the object A.

[0033] Then, the manipulator 201 moves the gripping device 100 toward the object A, and positions the first plate-shaped member 110 and the second plate-shaped member 120 so that the object A is sandwiched between them.

[0034] Then, the actuator 160 drives the first plate-shaped member 110 and the second plate-shaped member 120 so that the first plate-shaped member 110 and the second plate-shaped member 120 approach each other. As a result, the object A is sandwiched between the gripping surface 111 of the first plate-shaped member 110 and the gripping surface 121 of the second plate-shaped member 120, and the object A is gripped. At this time, the two protrusions A1 of the object A fit into the two holes 113 of the first plate-shaped member 110, and the object A is gripped by the gripping device 100 at a predetermined position and without rotating.

[0035] (Gripping method using second plate-shaped member 120 and third plate-shaped member 130) Figure 4 is a diagram showing a method for gripping object B using second plate-shaped member 120 and third plate-shaped member 130. As shown in (a) of Figure 4, first, actuator 160 drives first plate-shaped member 110 and second plate-shaped member 120 so that first plate-shaped member 110 and second plate-shaped member 120 approach each other. At this time, the width between gripping surface 131 of fixed third plate-shaped member 130 and gripping surface 123 of second plate-shaped member 120 is greater than the thickness of wall B1 of object B.

[0036] Then, the manipulator 201 moves the gripping device 100 toward the object B, and positions the third plate-shaped member 130 and the second plate-shaped member 120 so that the wall B1 of the object B is sandwiched between them.

[0037] Then, the actuator 160 drives the first plate-shaped member 110 and the second plate-shaped member 120 so that the first plate-shaped member 110 and the second plate-shaped member 120 move away from each other. As a result, the wall B1 of the object B is sandwiched between the gripping surface 131 of the third plate-shaped member 130 and the gripping surface 123 of the second plate-shaped member 120, and the object B is gripped.

[0038] Effect of Example 1 In Example 1, the maximum clampable width W3 (first clampable width) at which an object can be sandwiched between the first plate-shaped member 110 and the second plate-shaped member 120 is different from the maximum clampable width W1 (second clampable width) at which an object can be sandwiched between the second plate-shaped member 120 and the third plate-shaped member 130. This makes it possible to grip a variety of objects with different shapes and sizes.

[0039] Furthermore, in the first embodiment, an actuator 160 (drive mechanism) is provided that drives the first plate-shaped member 110 and the second plate-shaped member 120 so that the first plate-shaped member 110 and the second plate-shaped member 120 move toward and away from each other. In the first embodiment, the first plate-shaped member 110 and the second plate-shaped member 120 can be moved toward and away from each other with a single actuator 160, which allows the device to be made smaller.

[0040] Furthermore, in Example 1, even if the third plate-shaped member 130 is fixed without being driven, the second plate-shaped member 120 approaches or moves away, so that the second plate-shaped member 120 and the third plate-shaped member 130 can grasp objects of various shapes and sizes.

[0041] In addition, in Example 1, the actuator 160 brings the first plate-shaped member 110 and the second plate-shaped member 120 closer to each other, thereby gripping an object between the first plate-shaped member 110 and the second plate-shaped member 120, and the actuator 160 moves the first plate-shaped member 110 and the second plate-shaped member 120 apart from each other, thereby gripping an object between the second plate-shaped member 120 and the third plate-shaped member 130. In this way, in Example 1, the object can be gripped by both the approaching and separating of the first plate-shaped member 110 and the second plate-shaped member 120.

[0042] At least one of the first plate-shaped member 110, the second plate-shaped member 120, and the third plate-shaped member 130 has a recess or protrusion that corresponds to a protrusion or recess provided on the object, thereby making it possible to grip the object at a predetermined position.

[0043] Furthermore, in Example 1, a first protruding portion 140 protruding from the gripping surface 111 of the first plate-shaped member 110 toward the second plate-shaped member 120, and a second protruding portion 150 protruding from the gripping surface 121 of the second plate-shaped member 120 toward the first plate-shaped member 110, are provided. As a result, the first protruding portion 140 and the second protruding portion 150 come into contact with each other, thereby limiting the gripping force between the first plate-shaped member 110 and the second plate-shaped member 120. This makes it possible to prevent excessive pressure from being applied to the object.

[0044] Furthermore, by attaching the gripping device 100 to the manipulator 201, an object gripped by the gripping device 100 can be transported to a destination 220.

[0045] Example 2 In Example 2, a gripping device 500 that drives a first plate-shaped member 110 and a second plate-shaped member 120 by air pressure will be described. Fig. 5 is a diagram showing the configuration of the gripping device 500 of Example 2. Similar to Example 1, the gripping device 500 of Example 2 includes a first plate-shaped member 110, a second plate-shaped member 120, a third plate-shaped member 130, a first protruding portion 140, a second protruding portion 150, an actuator 160, and a robot flange 170. Descriptions similar to those of Example 1 will be omitted as appropriate.

[0046] The gripping device 500 of Example 2 further includes a compressor 510 and a solenoid valve 520. The compressor 510 supplies compressed air. The solenoid valve 520 switches the supply destination of the compressed air supplied from the compressor 510. For example, compressed air supplied in one direction via the solenoid valve 520 moves a component (e.g., an air cylinder) of the actuator 160, bringing the first plate-shaped member 110 and the second plate-shaped member 120 closer to each other. Furthermore, compressed air supplied in a direction opposite to the one direction moves a component (e.g., an air cylinder) of the actuator 160 in the opposite direction, moving the first plate-shaped member 110 and the second plate-shaped member 120 away from each other.

[0047] The gripping device 500 of Example 2 also includes a control unit 530 that controls the flow rate of compressed air supplied from the compressor 510 and the opening direction of the solenoid valve 520. The control unit 530 is a general computer system and includes a processor and memory. The control unit 530 adjusts the flow rate of compressed air supplied from the compressor 510 to vary the air pressure supplied to, for example, an air cylinder. This makes it possible to vary the gripping force of the gripping device 500.

[0048] For example, the control unit 530 adjusts the flow rate of compressed air supplied from the compressor 510 according to a flow rate designated by an operator of the gripping device 500. The control unit 530 may also determine and adjust the flow rate of compressed air based on the object to be gripped, according to a data table in which the type, size, structure, etc. of the object corresponds to the flow rate of compressed air.

[0049] Effect of Second Embodiment In the second embodiment, the actuator 160 can finely adjust the pressure when gripping the object by using air pressure to drive the first plate-shaped member 110 and the second plate-shaped member 120. Therefore, even if the object is weak or is a hollow part that is easily deformed, the gripping device 500 can grip the object without damaging or deforming it.

[0050] In addition, in Example 2, since the object is gripped using air pressure, it is effective for small or lightweight objects. Furthermore, even if the object cannot be provided with a recess or protrusion, the object can be gripped using air pressure. Furthermore, by shortening the opening / closing distance between the first plate-shaped member 110 and the second plate-shaped member, the takt time can be shortened.

[0051] Other effects are the same as those of the first embodiment.

[0052] (Modifications) The present invention is not limited to the above-described embodiments, but includes various modifications. The above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to those including all of the described configurations. Furthermore, it is possible to replace part of the configuration of one embodiment with the configuration of another embodiment, or to add the configuration of another embodiment to the configuration of one embodiment. Furthermore, it is also possible to add, delete, or replace part of the configuration of each embodiment with other configurations.

[0053] For example, in Example 1, the third plate-shaped member 130 is fixedly attached to the gripping device 100, but the third plate-shaped member 130 may be driven by the actuator 160 or another actuator to move closer to or away from the second plate-shaped member 120.

[0054] REFERENCE SIGNS LIST 100 Grip device 110 First plate-shaped member 111 Grip surface 112 Contact portion 120 Second plate-shaped member 121 Grip surface 122 Contact portion 123 Grip surface 130 Third plate-shaped member 131 Grip surface 140 First protrusion 150 Second protrusion 160 Actuator 170 Robot flange 200 Transfer device 201 Manipulator 210 Object 220 Transfer destination 500 Grip device 510 Compressor 520 Solenoid valve

Claims

1. A gripping device having a first plate-like member, a second plate-like member, and a third plate-like member, the first plate-like member, the second plate-like member, and the third plate-like member being arranged in that order and parallel to each other, and which grips an object by sandwiching it between the first plate-like member and the second plate-like member, and grips an object by sandwiching it between the second plate-like member and the third plate-like member, wherein a first gripping width at which the object can be sandwiched between the first plate-like member and the second plate-like member is different from a second gripping width at which the object can be sandwiched between the second plate-like member and the third plate-like member.

2. The gripping device according to claim 1, further comprising a drive mechanism for driving the first plate-like member and the second plate-like member so that the first plate-like member and the second plate-like member move toward and away from each other.

3. The gripping device according to claim 2, characterized in that the position of the third plate-like member is fixed.

4. The gripping device described in claim 3, characterized in that the driving mechanism brings the first plate-like member and the second plate-like member closer together, thereby gripping the object between the first plate-like member and the second plate-like member, and the driving mechanism moves the first plate-like member and the second plate-like member away from each other, thereby gripping the object between the second plate-like member and the third plate-like member.

5. The gripping device according to claim 2, characterized in that the drive mechanism drives the first plate-like member and the second plate-like member by air pressure.

6. The gripping device as described in claim 1, characterized in that at least one of the first plate-shaped member, the second plate-shaped member, or the third plate-shaped member is formed with a concave or convex portion corresponding to a convex or concave portion provided on the object.

7. The gripping device described in claim 1, further comprising a first protrusion protruding from the gripping surface of the first plate-like member toward the second plate-like member, and a second protrusion protruding from the gripping surface of the second plate-like member toward the first plate-like member, wherein the abutment between the first protrusion and the second protrusion limits the approach between the first plate-like member and the second plate-like member.

8. A transport device comprising: a gripping device according to any one of claims 1 to 7; and a manipulator to which the gripping device is attached.

9. A gripping method comprising: bringing a first plate-like member and a second plate-like member, which are arranged parallel to each other, closer to each other to grip an object with the first plate-like member and the second plate-like member; and moving the first plate-like member and the second plate-like member apart to grip an object of a different width from the object with the second plate-like member and a third plate-like member, which is arranged parallel to the second plate-like member and has a fixed position.

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