Gripping device

Abstract

This gripping device comprises: a pair of finger parts for gripping an object; a drive part for moving the pair of finger parts in an opening / closing direction with respect to the object; and a position adjustment means for adjusting the attachment positions of the pair of finger parts to the drive part. The pair of finger parts have the same shape, and a spacing between tips of the pair of finger parts can be changed by the position adjustment means.

Description

gripping device

[0001] The present disclosure relates to a gripping device for gripping an object.

[0002] In order for a robot to grasp an object, a grasping device called a robot hand or a gripper is used.

[0003] Patent Document 1 discloses a robot hand equipped with a first cylinder that controls the opening and closing of the fingers and a sub-cylinder incorporated within the first cylinder. The sub-cylinder disclosed in Patent Document 1 receives a supply of air, which changes the maximum opening amount of the robot hand.

[0004] Patent Document 2 discloses a robot hand equipped with a finger unit that can be attached to and detached from a hand body. The robot hand disclosed in Patent Document 2 has multiple finger units with different shapes to grasp objects of various shapes.

[0005] Japanese Patent Laid-Open No. 1-222882 Japanese Patent Laid-Open No. 2007-222971

[0006] The robot hand disclosed in Patent Document 1 requires a sub-cylinder to change the maximum opening amount, which results in an increased size of the robot hand.

[0007] Furthermore, the robot hand disclosed in Patent Document 2 requires multiple types of finger units to match the shape of the target object, which increases costs.

[0008] In view of the above-mentioned problems, an object of the present disclosure is to provide a gripping device that is small and low cost, and can grip objects of various shapes.

[0009] The gripping device of the present disclosure comprises a pair of finger portions for gripping an object, a drive unit for moving the pair of finger portions in an opening / closing direction relative to the object, and a position adjustment means for adjusting the attachment positions of the pair of finger portions relative to the drive unit, wherein each of the pair of finger portions has the same shape, and the spacing between the tips of the pair of finger portions can be changed by the position adjustment means.

[0010] The gripping device of the present disclosure is capable of achieving miniaturization and cost reduction, and is also capable of gripping objects of various shapes.

[0011] FIG. 1 is a diagram illustrating an example of the configuration of a gripping device 10 according to the first embodiment. FIG. 2A is a perspective view of a finger unit 20 included in the gripping device 10 according to the first embodiment. FIG. 2B is a front view of the finger unit 20 included in the gripping device 10 according to the first embodiment. FIG. 2C is a right side view of the finger unit 20 included in the gripping device 10 according to the first embodiment. FIG. 3A is a perspective view of the gripping device 10 according to the first embodiment. FIG. 3B is a right side view of the gripping device 10 according to the first embodiment. FIG. 4A is a perspective view of a drive unit 30 included in the gripping device 10 according to the first embodiment. FIG. 4B is a plan view of the drive unit 30 included in the gripping device 10 according to the first embodiment. FIG. 5 is a schematic cross-sectional view illustrating the operation of an actuator 36 included in the gripping device 10 according to the first embodiment. FIG. 6A is a diagram illustrating a first attachment position of an attachment unit 32 relative to the finger unit 20 included in the gripping device 10 according to the first embodiment. Fig. 6B is a diagram showing a second attachment position of the attachment portion 32 with respect to the finger portion 20 included in the gripping device 10 according to the first embodiment. Fig. 6C is a diagram showing a third attachment position of the attachment portion 32 with respect to the finger portion 20 included in the gripping device 10 according to the first embodiment. Fig. 6D is a diagram showing a fourth attachment position of the attachment portion 32 with respect to the finger portion 20 included in the gripping device 10 according to the first embodiment. Fig. 7 is a diagram showing a configuration example of the gripping device 15 according to Modification 1 of the first embodiment. Fig. 8 is a perspective view of the finger portion 20 included in the gripping device 15 according to Modification 1 of the first embodiment.

[0012] Hereinafter, embodiments of the present disclosure will be described in detail. However, the present disclosure is not limited to these examples, but is defined by the claims, and is intended to include all modifications within the meaning and scope equivalent to the claims.

[0013] In the description of the specification and drawings of each embodiment, components having substantially the same or corresponding functional configurations may be designated by the same reference numerals to avoid redundant explanation. In addition, the scale of each part in the drawings may differ from the actual scale to facilitate understanding.

[0014] In the directions of parallel, right-angle, orthogonal, horizontal, vertical, up-down, left-right, front-back, etc., deviations are permitted to the extent that they do not impair the effects of the embodiments. The shape of the corners is not limited to right angles and may be rounded like an arch. Parallel, right-angle, orthogonal, horizontal, and vertical may include approximately parallel, approximately right-angle, approximately orthogonal, approximately horizontal, and approximately vertical, respectively.

[0015] For ease of explanation, the drawings set a virtual three-dimensional coordinate system (XYZ Cartesian coordinate system) consisting of mutually orthogonal X-, Y-, and Z-axes (XYZ axes). For example, for a coordinate axis perpendicular to the plane of the drawing, a black circle within a circle on the coordinate axis indicates that the front side of the plane of the paper is the positive region of the coordinate axis. Also, a cross within a circle on the coordinate axis indicates that the front side of the plane of the paper is the negative region of the coordinate axis.

[0016] However, this coordinate system is defined for the purpose of explanation and does not limit the attitude of the gripping device etc. according to this embodiment.

[0017] In the following drawings, the X-axis direction is the direction in which each finger portion (for example, finger portion 20 in the case of FIG. 1 ) moves. The Y-axis direction is the direction in which each finger portion extends. The Z-axis is the direction perpendicular to the X-axis and Y-axis. The X-axis direction is an example of the first direction, the Y-axis direction is an example of the second direction, and the Z-axis direction is an example of the third direction.

[0018] Additionally, a view of an object viewed from the +Z side in the opposite direction of the Z axis along the Z axis is called a front view. A view of an object viewed from the -X side in the X axis direction along the X axis is called a left side view, and a view of an object viewed from the +X side in the opposite direction of the X axis is called a right side view. A view of an object viewed from the +Y side in the opposite direction of the Y axis along the Y axis is called a top view, and a view of an object viewed from the -Y side in the Y axis direction is called a bottom view.

[0019] With respect to the front view as a reference, the X-axis direction may be referred to as the left-right direction (the opening and closing direction of the finger portion 20), the Y-axis direction as the up-down direction, and the Z-axis direction as the front-to-back direction. With respect to the object, the +X side may be referred to as the right side, the -X side as the left side, the +Y side as the upper side, the -Y side as the lower side, the +Z side as the front side, and the -Z side as the rear side.

[0020] In the following description, the "inside in the X-axis direction" may refer to the side closer to an imaginary Y-Z plane that bisects the gripping device in the X-axis direction, and the "outside in the X-axis direction" may refer to the side away from the imaginary Y-Z plane. The "inside in the Z-axis direction" may refer to the side closer to an imaginary X-Y plane that bisects the gripping device in the Z-axis direction, and the "outside in the Z-axis direction" may refer to the side away from the imaginary X-Y plane. In addition, some symbols may be omitted in each drawing to make the drawings easier to understand.

[0021] First Embodiment Grip Device 10 First, a grip device 10 according to the first embodiment will be described. FIG. 1 is a diagram illustrating an example of the configuration of the grip device 10 according to the first embodiment. The grip device 10 grips an object W by moving each of a pair of fingers 20 toward or away from each other along the X-axis direction (the opening and closing direction of the finger units 20). Here, as an example, a grip device 10 attached to a robot installed in a food service factory, cafeteria, restaurant, or the like will be described. The robot automates food distribution and arranges tableware (objects W) containing food on a tray T. FIG. 1 illustrates a case in which the grip device 10 grips tableware or the like and places it in a predetermined position on the tray T. Tableware generally refers to containers used for eating, and includes, for example, plates, bowls, cups, and glasses. Note that the object W is not particularly limited and may be, for example, various devices, parts, food, or the like, and may have various shapes, masses, and sizes (e.g., rod-shaped, plate-shaped, or spherical).

[0022] The gripping device 10 includes a pair of finger units 20 that grip an object W, a drive unit 30 that moves the pair of finger units 20 in an opening / closing direction relative to the object W, and a position adjustment means 40 that adjusts the attachment positions of the pair of finger units 20 relative to the drive unit 30. The gripping device 10 grips or releases the object W by changing the spacing between the tips of the finger units 20 using the drive unit 30.

[0023] If the size of the object W is too large to be grasped even when fully opened (when the spacing between the tips of the finger sections 20 is widest), or if the size of the object W is too small to be grasped even when closed (when the spacing between the tips of the finger sections 20 is narrowest), the attachment position of each finger section 20 relative to the drive section 30 is adjusted to change the spacing between the finger sections 20 when the grasping device 10 is fully opened and closed.

[0024] <Details of the gripping device 10> Next, each component of the gripping device 10 will be described in detail.

[0025] [Finger unit 20] Fig. 2A is a perspective view of the finger unit 20 provided in the gripping device 10 according to the first embodiment. Fig. 2B is a front view of the finger unit 20 provided in the gripping device 10 according to the first embodiment. Fig. 2C is a right side view of the finger unit 20 provided in the gripping device 10 according to the first embodiment. Note that since each of the finger units 20 has the same shape, Figs. 2A to 2C only show one of the finger units 20.

[0026] 2A to 2C , the finger unit 20 has a pair of base end portions 22 provided at the base end of the finger unit 20 and attached to the drive unit 30, a contact portion 24 provided at the tip of the finger unit 20 and coming into contact with the object W when the object W is gripped, a pair of intermediate portions 26 (a first intermediate portion 26 a and a second intermediate portion 26 b described below) connecting the base end portions 22 and the contact portions 24, and a rubber pad 28 attached to the surface of the contact portion 24 that comes into contact with the object W. The finger unit 20 is also formed integrally from a resin material.

[0027] (Base End 22) The base end 22 is a substantially rectangular plate-like member, and is provided with a hole 44 serving as the position adjustment means 40.

[0028] (Intermediate portion 26) The first intermediate portion 26a has a first connection portion 261 that is provided so as to hang down from the base end portion 22 downward (towards the -Y side), a second connection portion 262 that is provided so as to extend from the first connection portion 261 to the right (towards the +X side), and a third connection portion 263 that is provided so as to hang down from the second connection portion 262 downward (towards the -Y side).

[0029] The second intermediate portion 26b has a step portion 264 formed by protruding from the base end portion 22 toward the first intermediate portion 26a (+Z side, inward in the Z-axis direction), a first connecting portion 265 provided by extending from the step portion 264 to the right side (+X side), and a second connecting portion 266 provided by hanging down from the first connecting portion 265 to the downward side (-Y side).

[0030] Fig. 3A is a perspective view of the gripping device 10 according to the first embodiment. Fig. 3B is a right side view of the gripping device 10 according to the first embodiment. For ease of explanation, the drive unit 30 and the position adjustment means 40 are omitted from Figs. 3A and 3B. In addition, for ease of viewing the figures, some reference numerals are omitted and some structures are exaggerated.

[0031] As shown in FIGS. 3A and 3B , when a pair of finger units 20 are attached to the drive unit 30, the finger units 20 are staggered relative to the other finger unit 20 when viewed from the X-axis direction. As shown by the oval C in FIG. 3A , there is a crossover between one finger unit 20 and the other finger unit 20. However, the step 264 shifts one finger unit 20 inward in the Z-axis direction, preventing it from overlapping or contacting the other finger unit 22. Therefore, even if each of the finger units 20 has the same shape, the gripping device 10 can be opened and closed. Furthermore, because each of the finger units 20 has the same shape, attachment to the drive unit 30 is easy, reducing the cost of the gripping device 10, including manufacturing costs. Furthermore, because the finger units 20 are made of resin, the weight of the gripping device 10 can be reduced.

[0032] (Contact portion 24) The contact portion 24 is a substantially rectangular plate and has an inclined portion 24a whose thickness in the X-axis direction decreases toward the lower side (-Y side). For example, when tableware is lined up along the X-axis direction, the inclined portion 24a can prevent contact between the tableware adjacent to the object to be grasped W and the finger portion 20.

[0033] (Pad 28) The pad 28 has an uneven surface formed on the inner surface in the X-axis direction. Here, as an example of an uneven surface, a case where a plurality of upward protrusions 28a are formed on the surface of the pad 28 is shown. The protrusions 28a are arranged in a grid pattern at regular intervals on the surface of the pad 28. The protrusions 28a are made of flexible rubber, urethane foam, or the like. The protrusions 28a support the gripped object W facing upward, thereby preventing the object W from falling.

[0034] [Driver 30] The driver 30 changes the spacing between the contact portions 24 by moving the finger portions 20 closer to or farther apart along the X-axis direction. Fig. 4A is a perspective view of the driver 30 provided in the gripping device 10 according to the first embodiment. Fig. 4B is a plan view of the driver 30 provided in the gripping device 10 according to the first embodiment. As shown in Figs. 4A and 4B , the driver 30 has a pair of mounting portions 32 to which the finger portions 20 are attached, a guide mechanism 34 that supports the pair of mounting portions 32 movably in the X-axis direction, and an actuator 36 that moves the pair of mounting portions 32.

[0035] (Mounting portion 32) The mounting portion 32 has a hollow, generally rectangular shape with an opening, and is integrally formed from, for example, resin. Each mounting portion 32 has the same shape. The mounting portion 32 includes two mounting surfaces 32a and a fixing surface 32b. The mounting surfaces 32a are arranged opposite each other in the Z-axis direction, and are surfaces to which the finger portion 20 is attached. The fixing surface 32b is an outer end surface of the mounting portion 32 in the X-axis direction, formed continuously to connect the two mounting surfaces 32a. One end of the actuator 36 is fixed to the fixing surface 32b with a fixing means such as an adhesive.

[0036] The mounting portion 32 also has through holes 321, which are provided at the four corners of the fixing surface 32b and through which the linear shafts 344 pass. Linear bushings 345 are fitted into the through holes 321. Therefore, the mounting portion 32 is movably supported by the linear shafts 344.

[0037] (Guide Mechanism 34) The guide mechanism 34 includes a base portion 34a, a support portion 34b, and a guide portion 34c. The base portion 34a is a rectangular plate-shaped housing formed of, for example, resin and having an internal space. The base portion 34a has four fixing holes 341 at its four corners, through which the linear shaft 344 passes and is fixed. In addition to the four fixing holes 341, the base portion 34a also has three openings (a first opening 342 and a pair of second openings 343). A hose connected to a pressure source P (a gas or liquid compressor) is inserted into the first opening 342 provided at the front (+Z side) end of the base portion 34a and the second opening 343 provided at the outer end of the base portion 34a in the X-axis direction, and connected to the actuators 36. In other words, compressed fluid can be supplied from the pressure source P to the pair of actuators 36 through the first opening 342 of the base portion 34a, thereby saving piping space. The method of connecting the hose and the actuator 36 is not particularly limited, and the actuator 36 and the pressure source P may be connected by attaching a pipe joint to the opening 342 and connecting the hose to the pipe joint.

[0038] The support column 34b is erected on the upper (+Y) side of the base column 34a and is supported by the robot arm via a connecting means such as a flange. The support column 34b is made of, for example, resin.

[0039] The guide portion 34c is configured from a general-purpose part formed of, for example, resin, and has four linear shafts 344 and linear bushings 345. As described above, the guide portion 34c supports the mounting portion 32 so that it can move linearly in the X-axis direction.

[0040] (Actuators 36) A pair of actuators 36 are provided between the base portion 34a and the mounting portion 32. The gripping device 10 uses a plurality of lightweight, flexible soft actuators as fluid pressure actuators. The gripping device 10 grips the object W by utilizing the expansion and contraction of the soft actuators. Note that although soft actuators are preferred, other fluid pressure actuators, electric actuators, etc. may also be used.

[0041] Fig. 5 is a cross-sectional schematic diagram illustrating the expansion and contraction of the actuator 36 included in the gripping device 10 according to the first embodiment. In Fig. 5, the solid line indicates the actuator 36 when no pressure is applied, and the two-dot chain line indicates the actuator 36 expanded when pressure is applied. Fig. 5 is a cross-sectional view taken along the radial direction of the actuator 36. Furthermore, because each of the actuators 36 has the same shape, Fig. 5 shows only one of the actuators 36. Furthermore, to make the drawing easier to understand, some reference numerals have been omitted and some of the structure has been exaggerated.

[0042] 5, when the actuator 36 is pressurized, the actuator 36 expands along the X-axis direction, moving the mounting portion 32 away from the base portion 34a. When the actuator 36 is not pressurized (including when fluid flows out of the actuator 36), the actuator 36 contracts along the X-axis direction, moving the mounting portion 32 closer to the base portion 34a.

[0043] The actuator 36 includes an actuator body 36 a and a sealing portion 36 c. The actuator body 36 a includes a tube 361 and a compression spring 363.

[0044] A conventional tube contracts in the X-axis direction and expands in the radial direction when pressurized. However, the tube 361 according to this embodiment has a compression spring 363 wound around the outside of the tube 361, which suppresses radial expansion and allows the tube 361 to expand in the X-axis direction when pressurized. When fluid flows out of the tube 361, the tube 361 contracts inward in the X-axis direction. While an elastic material such as silicone rubber is suitable for the tube 361, other materials may also be used.

[0045] Furthermore, the tube 361 has a spring holding portion 362 on its surface. The spring holding portion 362 has an uneven shape formed on the surface of the tube 361, and is designed to catch the pitch of the compression spring 363. When the tube 361 expands or contracts, the compression spring 363 is caught in the uneven shape, thereby preventing the compression spring 363 from falling off the tube 361.

[0046] The sealing portion 36c has a first sealing portion 364 provided on the base portion 34a side and a second sealing portion 366 provided on the attachment portion 32 side.

[0047] The first sealing portion 364 has a connection port 365 formed therein for inserting a hose, and functions to seal the gap between the actuator main body 36a and the base portion 34a. The first sealing portion 364 is fixed to the base portion 34a by a fixing means such as an adhesive.

[0048] The second sealing portion 366 functions to seal the gap between the actuator body portion 36a and the mounting portion 32. The second sealing portion 366 is fixed to the fixing surface 32b by a fixing means such as an adhesive.

[0049] The sealing portion 36c may be of any type as long as it has the function of sealing between the actuator main body 36a and the base portion 34a, and between the actuator main body 36a and the mounting portion 32.

[0050] As described above, in the drive unit 30, the mounting portions 32 are all identical in shape, the actuators 36 are all identical in shape, and the guide mechanisms 34 are made of general-purpose parts, which reduces the cost, including the manufacturing cost, of the gripping device 10. Furthermore, because most of the drive unit 30 (mounting portions 32, guide mechanisms 34, etc.) are made of resin, the weight of the gripping device 10 can be reduced.

[0051] [Position adjustment means 40] Fig. 6A is a diagram showing a first mounting position of the gripping device 10 according to the first embodiment. Fig. 6B is a diagram showing a second mounting position of the gripping device 10 according to the first embodiment. Fig. 6C is a diagram showing a third mounting position of the gripping device 10 according to the first embodiment. Fig. 6D is a diagram showing a fourth mounting position of the gripping device 10 according to the first embodiment.

[0052] As shown in FIGS. 6A to 6D , the position adjustment means 40 has five protrusions 42 formed on the mounting portion 32 and two holes 44 that fit with the protrusions 42 provided on the base end 22 of the finger portion 20. The protrusions 42 and the holes 44 are interlocking with each other. The finger portion 20 is detachably attached to the mounting portion 32 by engaging the protrusions 42 with the holes 44. The attachment position of the finger portion 20 relative to the mounting portion 32 can be adjusted by changing the fit between some of the protrusions 42 (two of the five protrusions 42) and the two holes 44. In this way, since there is no need to use fastening means such as screws or bolts when attaching the finger portion 20 to the mounting portion 32, it is possible to prevent screws, bolts, etc. from falling off and becoming contaminated with food, parts, etc. This prevents foreign matter from being mixed in when the gripping device 10 grips or transports the object W.

[0053] (Hole Portions 44) The hole portions 44 are two substantially rectangular holes that penetrate the base end portion 22 in the Z-axis direction.

[0054] (Protrusions 42) The protrusions 42 are generally rectangular projections that protrude outward in the Z-axis direction from the mounting surface 32a. Five protrusions 42 are formed at intervals in the X-axis direction. The spacing between the contact portions 24 when fully open and when fully closed can be adjusted by changing the combination of the protrusions 42 and holes 44 that fit together.

[0055] It should be noted that the number of holes 44 is preferably two or more, but may be one. The number of protrusions 42 may be any number as long as it is greater than the number of holes 44. The shapes of the protrusions 42 and the holes 44 are not particularly limited and may be modified as appropriate. The number of pairs of fitting protrusions 42 and holes 44 may be two or more, and the size and shape of one pair of protrusions 42 and holes 44 may be the same as or different from the size and shape of another pair of protrusions 42 and holes 44.

[0056] Furthermore, as a method of fitting the convex portion 42 and the hole portion 44, for example, an engaging protrusion 44a that engages with the convex portion 42 may be provided in the hole portion 44, and a recess 42a that engages with the engaging protrusion 44a may be provided in the convex portion 42, and the hole portion 44 may be pushed downward (toward the -Y side) to engage the engaging protrusion 44a with the recess 42a, thereby locking the finger portion 20 to the mounting portion 32.

[0057] As shown in Figures 6A to 6D, the spacing between the contact portions 24 in the fully open and closed states is narrowest when the projections 42 and holes 44 are fitted together as shown in Figure 6A, and widest when the projections 42 and holes 44 are fitted together as shown in Figure 6D. That is, the further outward in the X-axis direction the projections 42 that fit into the holes 44 are positioned, the narrower the spacing between the contact portions 24 in the fully open and closed states. The further inward in the X-axis direction the projections 42 that fit into the holes 44 are positioned, the wider the spacing between the contact portions 24 in the fully open and closed states. In other words, the further outward in the X-axis direction the projections 42 and holes 44 are fitted together, the narrower the spacing between the contact portions 24 in the fully open and closed states. The further inward in the X-axis direction the projections 42 and holes 44 are fitted together, the wider the spacing between the contact portions 24 in the fully open and closed states. For example, if the object W is larger than the spacing between the contact portions 24, the object W can be grasped by changing the convex portions 42 that fit into the holes 44 to convex portions 42 located on the inside in the X-axis direction. If the object W is smaller than the spacing between the contact portions 24, the object W can be grasped by changing the convex portions 42 that fit into the holes 44 to convex portions 42 located on the outside in the X-axis direction. In this way, by changing the spacing between the contact portions 24 when fully open and closed to match the shape of the object W, objects W of various shapes can be grasped. Furthermore, since multiple types of finger portions 20 are not required to match the shape of the object W, and one type of finger portion 20 can accommodate objects W of various shapes, the cost of the gripping device 10, including manufacturing costs, can be reduced. Furthermore, since there is no need to provide a separate driving means, such as an actuator, to change the spacing between the contact portions 24 when fully open and closed, the gripping device 10 can be made smaller.

[0058] In this embodiment, the distance D1 between the contact portions 24 when fully open and the distance D2 between the contact portions 24 when closed are determined based on the diameter of tableware used in food service factories and the like. Specifically, they are as follows. In the gripping device 10 shown in FIG. 6A, D1 is approximately 126 mm and D2 is approximately 56 mm. In the gripping device 10 shown in FIG. 6B, D1 is approximately 142 mm and D2 is approximately 72 mm. In the gripping device 10 shown in FIG. 6C, D1 is approximately 158 mm and D2 is approximately 88 mm. In the gripping device 10 shown in FIG. 6D, D1 is approximately 174 mm and D2 is approximately 104 mm. Note that the above-mentioned D1 and D2 are merely examples and are not particularly limited, and may be changed as appropriate depending on the use and shape of the target object W.

[0059] <Summary> In the gripping device 10 according to the first embodiment, each of the pair of finger portions 20 has the same shape, and the distance between the tips of the pair of finger portions 20 can be changed by the position adjustment means 40. This eliminates the need to provide a separate drive means for changing the distance between the tips of the pair of finger portions 20, making it possible to reduce the size of the gripping device 10 and to grip objects W of various shapes. The gripping device 10 does not require multiple types of finger portions 20 to match the shapes of the object W, and one type of finger portion 20 can accommodate objects W of various shapes, making it possible to reduce the costs of the gripping device 10, including manufacturing costs.

[0060] Furthermore, according to the gripping device 10, the position adjustment means 40 has a convex portion 42 formed on the drive unit 30 and a hole portion 44 provided on each of the pair of finger portions 20 that fits into the convex portion 42, and each of the pair of finger portions 20 is detachably attached to the drive unit 30 by fitting the convex portion 42 into the hole portion 44. This eliminates the need to use fixing means such as screws or bolts when attaching the finger portions 20 to the attachment portion 32, thereby preventing screws, bolts, etc. from falling off and becoming mixed in with food, parts, etc. In other words, it is possible to prevent foreign matter from getting mixed in when the gripping device 10 grips or transports the object W.

[0061] Furthermore, according to the gripping device 10, a pad 28 having an upward protrusion 28a formed on the surface of the contact portion 24 that comes into contact with the object W is attached, so that the protrusion 28a supports the gripped object W upward, thereby preventing the object W from falling.

[0062] <Modifications> Fig. 7 is a diagram showing an example of the configuration of a gripping device 15 according to Modification 1 of the first embodiment. Fig. 8 is a perspective view of a finger unit 20 provided in a gripping device 15 according to Modification 1 of the first embodiment. Note that in Modification 1 of the first embodiment, components similar to those in the first embodiment are assigned the same reference numerals as in the first embodiment, and detailed description thereof will be omitted.

[0063] In Modification 1, as shown in Figures 7 and 8, five holes 54 of the position adjustment means 50 are provided on the mounting surface 32a of the drive unit 30. Furthermore, two protrusions 52 of the position adjustment means 50 are formed on the base end portion 22 of the finger units 20. That is, Modification 1 differs from the position adjustment means 40 of the first embodiment in that the holes 54 are provided on the drive unit 30 and the protrusions 52 are formed on the finger units 20. The other configurations of the gripping device 15 are the same as those of the gripping device 10 of the first embodiment. Therefore, even in Modification 1, the mounting position of the finger units 20 relative to the mounting unit 32 can be changed by changing the combination of the mutually engageable protrusions 52 and holes 54.

[0064] The above describes the gripping device using an embodiment, but the present disclosure is not limited to the above embodiment, and various modifications and improvements, such as combinations or substitutions with part or all of other embodiments, are possible within the scope specified in the claims.

[0065] W Object T Tray P Pressure source 10, 15 Grip device 20 Finger portion 22 Base end portion 24 Contact portion 24a Inclined portion 26 Intermediate portion 26a First intermediate portion 261 First connecting portion 262 Second connecting portion 263 Third connecting portion 26b Second intermediate portion 264 Step portion 265 First connecting portion 266 Second connecting portion 28 Pad 28a Projection-like object 30 Drive portion 32 Mounting portion 32a Mounting surface 32b Fixing surface 321 Through hole 34 Guide mechanism 34a Base portion 341 Fixing hole 342 First opening 343 Second opening 34b Support portion 34c Guide portion 344 Linear shaft 345 Linear bushing 36 Actuator 36a Actuator main body portion 361 Tube 363 Compression spring 364 First sealing portion 365 Connection port 366 Second sealing portion 40, 50 Position adjustment means 42, 52 Convex portion 44, 54 Hole portion

Claims

1. A gripping device comprising: a pair of finger portions for gripping an object; a driving portion for moving the pair of finger portions in an opening / closing direction with respect to the object; and a position adjusting means for adjusting an attachment position of the pair of finger portions with respect to the driving portion, wherein each of the pair of finger portions has the same shape, and a distance between tips of the pair of finger portions is changeable by the position adjusting means.

2. The gripping device according to claim 1, wherein the position adjusting means has a convex portion formed on the driving portion and a hole portion provided on each of the pair of finger portions and fitted to the convex portion, and each of the pair of finger portions is detachably attached to the driving portion by fitting the convex portion and the hole portion.

3. The gripping device according to claim 1, wherein the position adjusting means has a convex portion formed on each of the pair of finger portions and a hole portion provided on the driving portion and fitted to the convex portion, and each of the pair of finger portions is detachably attached to the driving portion by fitting the convex portion and the hole portion.

4. The gripping device according to claim 2 or 3, wherein a plurality of the convex portions and the hole portions are respectively formed, and the position adjusting means changes a combination of the convex portions and the hole portions that are fitted to each other to change a distance between tips of the pair of finger portions.

5. Each of the pair of finger portions has a pair of base end portions provided at a base end of each of the pair of finger portions and attached to the driving portion, a contact portion provided at a tip of each of the pair of finger portions and contacting the object when the object is gripped, and a pair of intermediate portions connecting the base end portion and the contact portion. When the pair of finger portions are attached to the driving portion, an intermediate portion of one of the pair of finger portions and an intermediate portion of the other of the pair of finger portions are staggered and do not overlap when viewed from the opening / closing direction. The gripping device according to claim 4.

6. The gripping device according to claim 5, wherein a pad having upward protrusions formed on a surface contacting the object is attached to the contact portion.

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