JP2006026869A - Chucking device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a chucking device capable of strongly chucking an object to be chucked by absorbing deviation of attitude of the object to be chucked when deviation of the attitude is generated between the object to be chucked and a chucking means when the object to be chucked is chucked. <P>SOLUTION: In the chucking device, hand members 24, 25 for chucking the object 26 to be chucked by approaching or leaving from each other and being opened/closed and an arm member 21 for conveying the hand members 24, 25 are provided. Distal ends of the hand members 24, 25 are constituted by members 27a, 27b having a small friction coefficient and areas except for the distal ends of the hand members 24, 25 are constituted by members 28a, 28b having a larger friction coefficient than the distal ends of the hand members 24, 25. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a gripping device, for example, a gripping device that can absorb a deviation in the posture of a gripped body when the gripped body is gripped and moved by a robot arm or the like.

  In general, in the work of gripping and transporting a gripped body using a robot such as a manipulator, an error in position and orientation may occur between the gripped body and the gripping portion of the robot. Has become a problem.

  If there is an error between the gripped body and the robot gripping part in this way, the gripped body cannot follow the target trajectory even if the robot is precisely controlled. When performing the above, the object to be grasped and the work environment come into contact with each other, and an excessive internal force is applied to the object to be grasped, so that the object to be grasped or the robot may be destroyed.

  As what solves such a problem, what is shown in patent documents 1-3 is known.

  What is shown in Patent Documents 1 and 2 is shown, for example, in FIG. In addition, since patent document 1 and patent document 2 are the same technical thoughts, what was described in patent document 1 is used for drawing.

  In FIG. 13, the remote center compliance device includes a moving device 1, a fixed plate 2, and a movable plate 4 that is connected to the fixed plate 2 via a ball joint support portion 3 and corrects a relative error with the fixed plate 2. And a gripping member 6 that is provided on the movable plate 4 and grips the insertion member 5, and with respect to a rotational moment M that acts on the insertion member 5 when the insertion member 5 is inserted into the opening 7 a of the inserted member 7. Thus, the fixed member 2 and the movable plate 4 are relatively displaced so as to absorb the relative displacement between the insertion member 5 and the member 7 to be inserted, so that the insertion member 5 can be easily inserted into the member 7 to be inserted.

Moreover, what is shown in Patent Document 3 is shown in FIG. 14, for example. In FIG. 14, when the component positioning apparatus grips the component 13 with the gripping arms 12 a and 12 b provided at the tip of the arm 12 of the robot 11, the component positioning device strongly presses the component 13 against the reference plane 15 with the hydraulic cylinder 14. Thus, the error between the arm 12 and the component 13 is corrected.
JP 7-290326 A JP-A-6-297378 JP 2000-81911 A

  However, since the ones shown in Patent Documents 1 and 2 use the relative displacement of the fixed plate 2 and the movable plate 4, that is, compliance characteristics, the posture of the insertion member 5 is shaken during the conveyance of the insertion member 5. End up.

  For this reason, for example, when performing a defect inspection of the surface of the insertion member 5 while the insertion member 5 is being transported using a robot, an accurate inspection cannot be performed due to the shake of the insertion member 5. . Further, it is not possible to correct a deviation between the insertion member 5 and the gripping member 6 that occurs when the insertion member 5 is gripped.

  On the other hand, the one shown in Patent Document 3 corrects the error between the arm 12 and the component 13 by strongly pressing the component 13 against the reference surface 15 by the hydraulic cylinder 14 so as to follow it. Although it is possible to prevent the posture of the component 13 from being shaken, an extra time is required because an operation of pressing the component 13 against the reference surface 15 is required for each operation.

  The present invention has been made to solve such a problem. When a gripping object is gripped and the gripping means is misaligned, the gripping object is misaligned. It is intended to provide a gripping device capable of absorbing and firmly gripping.

  The gripping device of the present invention is a gripping device for gripping and transporting a gripped body, and includes a gripping means for gripping the gripped body and a moving means for transporting the gripping means. The apparatus includes an absorbing member that absorbs a posture deviation of the gripped body when the gripping body is gripped, and a gripping member that grips the gripped body in which the posture shift is absorbed by the absorbing member.

  With this configuration, when there is a deviation in posture between the gripped body and the gripping means when gripping the gripped body, the posture shift of the gripped body can be absorbed and firmly gripped.

  For this reason, since it is not necessary to provide the gripping means with compliance characteristics, it is possible to prevent the posture of the gripped body from being shaken during transportation, and it is not necessary to position the gripped body at the reference position for each transport. Thus, inspection work or the like can be performed in a short time.

  In the gripping device of the present invention, the gripping means has a plurality of hand members that can be opened and closed so as to approach and separate from each other, and the absorption member has a friction coefficient provided at the tip of the hand member. It is comprised from a small member, and the said holding member is provided in the area | region except the front-end | tip part of the said hand member, and is comprised from a member with a larger friction coefficient than the front-end | tip part of the said hand member.

  With this configuration, when there is a misalignment between the gripped body and the hand member when gripping the gripped body, the gripped body slides when a member with a small friction coefficient comes into contact with the gripped object. After the deviation of the posture of the body is absorbed, the gripped body can be firmly held by contacting the gripped body with a member having a large friction coefficient.

  For this reason, it is possible to absorb the deviation of the posture of the gripped body with a simple configuration without adding an actuator or the like that absorbs the posture shift of the gripped body, and to prevent an increase in the cost of the gripping device. Can do.

  In the gripping device of the present invention, the gripping means has a plurality of hand members that can be opened and closed so as to be close to or separated from each other, and the absorbing member is at least one provided at the tip of the hand member. It is comprised from the above rotary body, and the said holding member is comprised from a member with a large friction coefficient provided in the area | region except the front-end | tip part of the said hand member.

  With this configuration, when there is a misalignment between the gripped body and the hand member when gripping the gripped body, the rotating body that contacts the gripped body rotates and the position of the gripped body shifts. After being absorbed, the gripped body comes into contact with a member having a large friction coefficient so that the gripped body can be firmly held.

  For this reason, it is possible to absorb the deviation of the posture of the gripped body with a simple configuration without adding an actuator or the like that absorbs the posture shift of the gripped body, and to prevent an increase in the cost of the gripping device. Can do.

  In the gripping device of the present invention, the gripping means has a plurality of hand members that can be opened and closed so as to approach and separate from each other, and the absorbing member is provided on the surface of at least one of the hand members. The gripping member is composed of a member having a large friction coefficient provided on the surface of the hand member excluding the hand member.

  With this configuration, when there is a misalignment between the gripped body and the hand member when gripping the gripped body, the gripped body slides when a member with a small friction coefficient comes into contact with the gripped object. After the deviation of the posture of the body is absorbed, the gripped body can be firmly held by contacting the gripped body with a member having a large friction coefficient.

  For this reason, it is possible to absorb the deviation of the posture of the gripped body with a simple configuration without adding an actuator or the like that absorbs the posture shift of the gripped body, and to prevent an increase in the cost of the gripping device. Can do.

  In the gripping device of the present invention, the gripping means has a plurality of hand members that can be opened and closed so as to approach and separate from each other, and the absorbing member is provided on the surface of at least one of the hand members. The grip member is composed of at least one rotating body provided on the hand member excluding the hand member.

  With this configuration, when there is a misalignment between the gripped body and the hand member when gripping the gripped body, the rotation that makes contact with the gripped body rotates and the misalignment of the gripped body is reduced. After the absorption, the gripped body comes into contact with a member having a large friction coefficient so that the gripped body can be firmly held.

  For this reason, it is possible to absorb the deviation of the posture of the gripped body with a simple configuration without adding an actuator or the like that absorbs the posture shift of the gripped body, and to prevent an increase in the cost of the gripping device. Can do.

  In the gripping device of the present invention, the gripping means has a plurality of hand members that can be opened and closed so as to be close to and separated from each other, and the absorbing member is provided on the hand member and rotates in only one direction. It is composed of a rotating body, the gripping member is provided on the hand member, is composed of a biasing member that biases the rotating body toward the gripped body, and the rotation direction of the rotating body is opposed to the facing hand member The opposite direction.

  With this configuration, when there is a misalignment between the gripped body and the hand member when gripping the gripped body, the rotating body that contacts the gripped body rotates and the position of the gripped body shifts. After the absorption, the urging member presses the gripped body via the rotating body, so that the hand member firmly holds the gripped body.

  For this reason, it is possible to absorb the deviation of the posture of the gripped body with a simple configuration without adding an actuator or the like that absorbs the posture shift of the gripped body, and to prevent an increase in the cost of the gripping device. Can do.

  In the gripping device of the present invention, the rotating body is provided inward in the proximity direction of the hand member.

  With this configuration, the hand member grips the gripped body from the outside via the rotating body provided inward in the proximity direction of the hand member, so that the deviation of the posture of the gripped body having a general shape can be absorbed. The object to be grasped can be firmly grasped.

  In the gripping device of the present invention, the rotating body is provided outward in the separation direction of the hand member.

  With this configuration, the hand member grips the hollow gripped body from the inside through the rotating body provided in the outer direction of the separation of the hand member, so if you do not want to scratch the outside of the gripped body, It is possible to absorb the deviation of the posture of the gripped body and firmly grip the gripped body.

  In the gripping device of the present invention, the gripping means has a plurality of hand members that can be opened and closed so as to be close to and separated from each other, the absorbing member is provided on the hand member, and the hand member extends. It comprises a linear guide that moves along the direction, and the gripping member is provided on the hand member and comprises a biasing member that biases the linear guide toward the gripped body.

  With this configuration, when there is a misalignment between the gripped body and the hand member when gripping the gripped body, the linear guide that contacts the gripped body moves in the extending direction of the hand member. After absorbing the deviation of the posture of the gripped body, the urging member presses the gripped body via the linear guide, so that the hand member firmly holds the gripped body.

  For this reason, it is possible to absorb the deviation of the posture of the gripped body with a simple configuration without adding an actuator or the like that absorbs the posture shift of the gripped body, and to prevent an increase in the cost of the gripping device. Can do.

  In the gripping device of the present invention, the linear guide is provided inward in the proximity direction of the hand member.

  With this configuration, the hand member grips the object to be grasped from the outside via the linear guide provided in the proximity of the hand member, so that the deviation of the posture of the generally-shaped object to be grasped is absorbed. The object to be grasped can be firmly grasped.

  In the gripping device of the present invention, the linear guide is provided outward in the separation direction of the hand member.

  With this configuration, the hand member grips the hollow gripped body from the inside via the linear guide provided outside in the separation direction of the hand member, so if you do not want to scratch the outside of the gripped body, It is possible to absorb the deviation of the posture of the gripped body and firmly grip the gripped body.

  As described above, according to the present invention, when there is a deviation in posture between the gripped body and the gripping means when gripping the gripped body, the gripping force of the gripped body is absorbed and firmly gripped. It is possible to provide a gripping device that can do this.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  1 and 2 are diagrams showing a first embodiment of a gripping device according to the present invention.

  First, the configuration will be described. In FIG. 1, the gripping device 20 includes an arm member (moving means) 21 that can be moved three-dimensionally by an actuator (not shown). The arm member 21 can be bent by a joint portion 22.

  A plate-like base portion 23 is provided at the tip of the arm portion 21, and a pair of hand members (gripping means) 24 and 25 are provided on the base portion 23. Further, the hand portions 24 and 25 are movably attached to the base portion 23, and are moved in the left-right direction (proximity / separation direction) in FIG. 1 by an actuator (not shown) such as a hydraulic cylinder, air cylinder, or motor, The gripping body 26 is configured to grip it.

  Further, the tip portions of the hand members 24 and 25 are composed of members (absorbing members) 27a and 27b having a small friction coefficient, and the regions of the hand members 24 and 25 excluding the members 27a and 27b are members 27a and 27b. It is comprised from the member (gripping member) 28a, 28b with a larger friction coefficient.

  Next, the operation will be described.

  In the case of gripping and transporting the gripped body 26 from the outside by the hand members 24 and 25, the gripped body 26 is gripped while the hand members 24 and 25 are brought close to each other by the actuator. At this time, as shown in FIG. 1A, when the gripping body 26 is gripped obliquely and the posture is shifted, the right side of the gripping body 26 slides in contact with the member 27a having a small friction coefficient, Since the left side of the gripping body 26 does not slip due to contact with the member 28b having a large friction coefficient, when the hand members 24 and 25 are brought closer, the deviation of the posture of the gripping body 26 is absorbed, as shown in FIG. As described above, the grasped body 26 comes into contact with the members 28a and 28b having a large friction coefficient and is firmly held by the hand members 24 and 25.

  On the other hand, as shown in FIG. 2, when the hollow gripped body 26 is gripped and conveyed from the inside by the hand members 24 and 25, the gripped body 26 is gripped while the hand members 24 and 25 are brought close to each other by the actuator. To do. At this time, as shown in FIG. 2A, when the gripping body 26 is gripped obliquely and the posture is shifted, the left side of the gripping body 26 contacts and slides on the member 27b having a small friction coefficient. Since the right side of the gripping body 26 does not slip due to contact with the member 28a having a large coefficient of friction, when the hand members 24 and 25 are brought closer, the deviation of the posture of the gripping body 26 is absorbed, as shown in FIG. As described above, the grasped body 26 comes into contact with the members 28a and 28b having a large friction coefficient and is firmly held by the hand members 24 and 25.

  As described above, in the present embodiment, when the grasped body 26 is grasped, if there is a misalignment between the grasped body 26 and the hand members 24, 25, the misalignment of the grasped body 26 is rubbed. It is absorbed by the members 27a and 27b having a small coefficient and can be firmly held by the members 28a and 28b having a large friction coefficient. For this reason, since it is not necessary to give the compliance characteristics to the hand members 24 and 25, it is possible to prevent the posture of the gripped body 26 from being shaken, and to set the gripped body 26 to the reference position for each transport. Inspection work or the like can be performed in a short time without the work of positioning.

  Further, it is possible to absorb the deviation of the posture of the grasped body 26 with a simple configuration without adding an actuator or the like that absorbs the deviation of the posture of the grasped body 26, and to prevent the cost of the grasping device 20 from increasing. can do.

  3 and 4 are views showing a second embodiment of the gripping device according to the present invention. The same reference numerals are given to the same components as those in the first embodiment, and the description thereof will be omitted.

  In FIG. 3, rotating bodies (absorbing members) 31 a and 31 b are provided at the distal ends of the hand members 24 and 25, and members (gripping members) having a large friction coefficient in the region excluding the distal ends of the hand members 24 and 25. ) 32a and 32b.

  Next, the operation will be described.

  In the case of gripping and transporting the gripped body 26 from the outside by the hand members 24 and 25, the gripped body 26 is gripped while the hand members 24 and 25 are brought close to each other by the actuator. At this time, as shown in FIG. 3A, when the gripped body 26 is gripped obliquely and the posture is shifted, the right side of the gripped body 26 contacts the rotating body 31a and the rotating body 31a is counterclockwise. Since the left side of the grasped body 26 does not slip due to contact with the member 32b having a large friction coefficient, the hand members 24 and 25 are brought closer to each other, so that the deviation of the posture of the grasped body 26 is absorbed. As shown in FIG. 3B, the gripped body 26 comes into contact with the members 32a and 32b having a large friction coefficient and is firmly held by the hand members 24 and 25.

  On the other hand, as shown in FIG. 4, when the hollow gripped body 26 is gripped and conveyed from the inside by the hand members 24 and 25, the gripped body 26 is gripped while the hand members 24 and 25 are brought close to each other by the actuator. To do. At this time, as shown in FIG. 4A, when the gripped body 26 is gripped obliquely and the posture is shifted, the left side of the gripped body 26 contacts the rotating body 31b and the rotating body 31b is rotated clockwise. 4 and the right side of the grasped body 26 contacts the member 32a having a large friction coefficient and does not slip. Therefore, when the hand members 24 and 25 are brought closer to each other, the deviation of the posture of the grasped body 26 is absorbed. As shown in (b), the gripped body 26 comes into contact with the members 32a and 32b having a large friction coefficient and is firmly held by the hand members 24 and 25.

  As described above, in the present embodiment, when the gripping body 26 is gripped, if the gripping body 26 and the hand members 24 and 25 are misaligned, the posture shift of the gripping body 26 is rotated. Absorbed by the bodies 31a and 31b and can be firmly held by the members 32a and 32b having a large friction coefficient, the same effects as those of the first embodiment can be obtained.

  It should be noted that two or more rotating bodies 31a and 31b may be provided for each hand member 24 and 25 instead of one.

  FIGS. 5 and 6 are views showing a third embodiment of the gripping device according to the present invention. The same reference numerals are given to the same components as those in the first embodiment, and the description will be omitted.

  A member (absorbing member) 41a having a small friction coefficient is provided on the surface of the hand member 24, and a member (gripping member) 41b having a large friction coefficient is provided on the surface of the hand member 25.

  Next, the operation will be described.

  In the case of gripping and transporting the gripped body 26 from the outside by the hand members 24 and 25, the gripped body 26 is gripped while the hand members 24 and 25 are brought close to each other by the actuator. At this time, as shown in FIG. 5 (a), when the gripped body 26 is gripped obliquely and the posture is shifted, the right side of the gripped body 26 slides in contact with the member 41a having a small friction coefficient, Since the left side of the gripping body 26 does not slip due to contact with the member 41b having a large friction coefficient, if the hand members 24 and 25 are brought closer, the deviation of the posture of the gripping body 26 is absorbed, as shown in FIG. As described above, the grasped body 26 comes into contact with the members 41 a and 41 b having a large friction coefficient and is firmly held by the hand members 24 and 25.

  The operation accompanying the absorption of the posture deviation is the same when the posture of the grasped body 26 is deviated so that the central axis of the grasped body 26 is inclined to the right.

  On the other hand, as shown in FIG. 6, when the hollow gripped body 26 is gripped and transported from the inside by the hand members 24 and 25, the gripped body 26 is gripped while the hand members 24 and 25 are brought close to each other by the actuator. To do. At this time, as shown in FIG. 6A, when the gripped body 26 is gripped obliquely and the posture is shifted, the right side of the gripped body 26 contacts and slides on the member 41a having a small friction coefficient. Since the left side of the gripping body 26 does not slip due to contact with the member 41b having a large friction coefficient, when the hand members 24 and 25 are brought closer, the deviation of the posture of the gripping body 26 is absorbed, as shown in FIG. As described above, the grasped body 26 is firmly held by the hand portions 24 and 25.

  As described above, in the present embodiment, when the grasped body 26 is grasped, if there is a misalignment between the grasped body 26 and the hand members 24, 25, the misalignment of the grasped body 26 is rubbed. It can be absorbed by the member 41a having a small coefficient and can be gripped by the member 41b having a large coefficient of friction, and the same effect as that of the first embodiment can be obtained.

  7 and 8 are views showing a fourth embodiment of the gripping device according to the present invention. The same reference numerals are given to the same components as those in the first embodiment, and the description will be omitted.

  In FIG. 7, the hand member 24 is provided with rotating bodies (absorbing members) 51a and 51b, and the hand member 25 is composed of a member (gripping member) 52 having a large friction coefficient.

  Next, the operation will be described.

  In the case of gripping and transporting the gripped body 26 from the outside by the hand members 24 and 25, the gripped body 26 is gripped while the hand members 24 and 25 are brought close to each other by the actuator. At this time, as shown in FIG. 7A, when the gripped body 26 is gripped obliquely and the posture is shifted, the right side of the gripped body 26 contacts the rotating body 51a and the rotating body 51a is counterclockwise. Since the left side of the grasped body 26 does not slip due to contact with the member 52 having a large friction coefficient, when the hand members 24 and 25 are brought closer to each other, the rotating body 51a is rotated to rotate the grasped body 26. As shown in FIG. 7B, the posture deviation is absorbed, and the gripped body 26 comes into contact with the member 52 having a large friction coefficient and is firmly held by the hand members 24 and 25. Note that the rotating body 51b comes into contact with the gripped body 26 when the posture of the gripped body 26 is small or when it is gripped behind the hand members 24 and 25.

  On the other hand, as shown in FIG. 8, when the hollow gripped body 26 is gripped and transported from the inside by the hand members 24 and 25, the gripped body 26 is gripped while the hand members 24 and 25 are brought close to each other by the actuator. To do. At this time, as shown in FIG. 8A, when the gripped body 26 is gripped obliquely and the posture is shifted, the right side of the gripped body 26 comes into contact with the rotating body 51b and the rotating body 51b rotates clockwise. 8 and the left side of the gripped body 26 contacts the member 52 having a large friction coefficient and does not slip. Therefore, when the hand members 24 and 25 are brought closer, the deviation of the posture of the gripped body 26 is absorbed. As shown in (b), the gripped body 26 comes into contact with the member 52 having a large friction coefficient and is firmly held by the hand members 24 and 25.

  As described above, in the present embodiment, when the gripping body 26 is gripped, if the gripping body 26 and the hand members 24 and 25 are misaligned, the posture shift of the gripping body 26 is rotated. It can be absorbed by the bodies 51a and 51b and firmly held by the member 52 having a large friction coefficient, and the same effect as that of the first embodiment can be obtained.

  The rotating members 51a and 51b may be provided in each hand member 24 and 25 instead of two, or one or three or more.

  FIG. 9 is a diagram showing a fifth embodiment of the gripping device according to the present invention, and the same components as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted.

  Two rotating bodies (absorbing members) 61a and 61b that rotate only in one direction are provided at the distal ends of the hand members 24 and 25, respectively. The rotating body 61a rotates only in the clockwise direction, and the rotating body 61b It rotates only in the counterclockwise direction which is the rotation direction opposite to the rotating body 61a.

  The rotating bodies 61a and 61b are provided inward in the proximity of the hand members 24 and 25 (indicated by the arrow a), and the rotating bodies 61a and 61b are provided by springs (biasing members and gripping members) 62a and 62b. It is biased toward the gripped body 26 side.

  Next, the operation will be described.

  In the case of gripping and transporting the gripped body 26 from the outside by the hand members 24 and 25, the gripped body 26 is gripped while the hand members 24 and 25 are brought close to each other by the actuator. At this time, as shown in FIG. 9A, when the gripped body 26 is gripped obliquely and the posture is shifted, the left side of the gripped body 26 contacts the rotating body 61b and the rotating body 61b is counterclockwise. 9B, since the rotating body 61a on the left side of the grasped body 26 does not rotate, when the hand members 24 and 25 are brought closer to each other, the deviation of the posture of the grasped body 26 is absorbed, as shown in FIG. As described above, when the hand members 24 and 25 are further brought closer, the springs 62a and 62b are compressed by the gripped body 26, and the urging force of the springs 62a and 62b is increased, so that the gripped body 26 is moved by the rotating bodies 61a and 61b. Firmly held.

  As described above, in the present embodiment, when the gripping body 26 is gripped, if the gripping body 26 and the hand members 24 and 25 are misaligned, the posture shift of the gripping body 26 is rotated. The rotating body 61a, 61b absorbed by the body 61a or 61b and pressed by the springs 62a, 62b can be firmly held, and the same effect as that of the first embodiment can be obtained.

  In addition, since the hand members 24 and 25 grip the gripped body 26 from the outside via the rotating bodies 61a and 61b provided in the proximity of the hand members 24 and 25, the gripped body having a general shape It is possible to absorb the deviation of the posture of the body 26 and firmly grip the body 26 to be gripped.

  The rotating members 61a and 61b may be provided in each hand member 24 and 25 instead of two, or one or three or more.

  FIG. 10 is a diagram showing a sixth embodiment of a gripping device according to the present invention, and the same components as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted.

  Two rotating bodies (absorbing members) 63a and 63b that rotate only in one direction are provided at the front ends of the hand members 24 and 25, respectively. The rotating body 63a rotates only in the counterclockwise direction, and the rotating body 63b. Is configured to rotate only in the clockwise direction, which is the direction of rotation opposite to the rotating body 63a.

  The rotating bodies 63a and 63b are provided outside the hand members 24 and 25 in the separating direction (indicated by the arrow b), and the rotating bodies 63a and 63b are provided by springs (biasing members and gripping members) 64a and 64b. It is biased toward the gripped body 26 side.

Next, the operation will be described.
In the case of gripping and transporting the gripped body 26 from the inside by the hand members 24 and 25, the gripped body 26 is gripped while the hand members 24 and 25 are brought close to each other by the actuator. At this time, as shown in FIG. 10A, when the gripping body 26 is gripped obliquely and the posture is shifted, the left side of the gripping body 26 comes into contact with the rotating body 63b and the rotating body 63b is rotated clockwise. Since the rotating body 63a on the right side of the gripped body 26 does not rotate, when the hand members 24 and 25 are brought closer, the deviation of the posture of the gripped body 26 is absorbed, as shown in FIG. When the hand members 24 and 25 are further brought closer, the springs 64a and 64b are compressed by the gripped body 26, and the urging force of the springs 64a and 64b is increased, so that the gripped body 26 is firmly fixed by the rotating bodies 63a and 63b. Retained.

  As described above, in the present embodiment, when the gripping body 26 is gripped, if the gripping body 26 and the hand members 24 and 25 are misaligned, the posture shift of the gripping body 26 is rotated. The rotating body 63a, 63b absorbed by the body 63a or 63b and pressed by the springs 64a, 64b can be firmly held, and the same effect as that of the first embodiment can be obtained.

  Further, since the hand members 24 and 25 grip the hollow gripped body 26 from the inside via the rotating bodies 61a and 61b provided outside the hand members 24 and 25 in the separation direction, the outside of the gripped body 26 is outside. When it is not desired to damage the object, it is possible to absorb the deviation in the posture of the object to be grasped 26 and firmly grasp the object to be grasped.

  The rotating members 63a and 63b may be provided in each hand member 24 and 25 instead of two, or one or three or more.

  FIG. 11 is a diagram showing a seventh embodiment of the gripping device according to the present invention, and the same components as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted.

  Belt members 71 and 72 are provided on the hand members 24 and 25, and the belt members 71 and 72 extend in the extending direction of the hand members 24 and 25.

  Further, guide plates 71a and 72a are fixed to the opposing surfaces of the belt members 71 and 72, and the guide plates 71a and 72a move around the belt members 71 and 72 in the extending direction of the hand members 24 and 25. Accordingly, the hand members 24 and 25 move in the extending direction. In the present embodiment, the belt members 71 and 72 and the guide plates 71a and 72a constitute a linear guide as an absorbing member.

  The belt members 71 and 72 are biased toward the gripped body 26 by springs (biasing members and gripping members) 73a and 73b, and the belt members 71 and 72 are in the proximity of the hand members 24 and 25 (arrow c). Direction). The springs 73a and 73b are connected to the belt members 71 and 72 so that the belt members 71 and 72 only press the belt members 71 and 72 and do not hinder the circumferential movement of the belt members 71 and 72.

  Next, the operation will be described.

  When the object 26 is gripped and conveyed from the outside by the hand members 24 and 25, the object 26 is gripped while the hand members 24 and 25 are brought close to each other by the actuator. At this time, as shown in FIG. 11A, when the gripped body 26 is gripped obliquely and the posture is shifted, the left side of the gripped body 26 contacts the guide plate 72a and the belt member 72 moves around. 11 and the right guide plate 71a of the object to be grasped 26 does not move upward. Therefore, when the hand members 24 and 25 are brought closer to each other, the deviation of the posture of the object to be grasped 26 is absorbed, and FIG. ), When the hand members 24 and 25 are brought closer, the springs 73a and 73b are compressed by the gripped body 26, and the urging force of the springs 73a and 73b is increased. The body 26 is firmly held.

  As described above, in this embodiment, when there is a deviation in posture between the grasped body 26 and the hand members 24 and 25 when grasping the grasped body 26, the posture deviation of the grasped body 26 is linearly changed. The linear guide absorbed by the guide and pressed by the springs 73a and 73b can be firmly held, and the same effect as that of the first embodiment can be obtained.

  In addition, since the hand members 24 and 25 grip the gripped body 26 from the outside via linear guides provided inward in the proximity of the hand members 24 and 25, the posture of the gripped body 26 having a general shape is determined. It is possible to absorb the shift and firmly grip the object 26 to be gripped.

  FIG. 12 is a diagram showing an eighth embodiment of the gripping device according to the present invention, and the same components as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted.

  Belt members 74 and 75 are provided on the hand members 24 and 25, and the belt members 74 and 75 extend in the extending direction of the hand members 24 and 25.

  Further, guide plates 74a and 75a are fixed to the opposing surfaces of the belt members 74 and 75, and the guide plates 74a and 75a move around the belt members 74 and 75 in the extending direction of the hand members 24 and 25. Accordingly, the hand members 24 and 25 move in the extending direction. In the present embodiment, the belt members 74 and 75 and the guide plates 74a and 75a constitute a linear guide.

  The belt members 74 and 75 are biased toward the gripped body 26 by springs (biasing members and gripping members) 76a and 76b. The belt members 74 and 75 are separated from the hand members 24 and 25 (arrow d). Direction). The springs 76a and 76b are connected to the belt members 74 and 75 so that the belt members 74 and 75 only press the belt members 74 and 75 and do not hinder the circumferential movement of the belt members 74 and 75.

  Next, the operation will be described.

  In the case of gripping and transporting the gripped body 26 from the inside by the hand members 24 and 25, the gripped body 26 is gripped while the hand members 24 and 25 are brought close to each other by the actuator. At this time, as shown in FIG. 12A, when the gripped body 26 is gripped obliquely and the posture is shifted, the left side of the gripped body 26 contacts the guide plate 75a and the belt member 75 moves around. 12 and the right guide plate 74a of the object to be grasped 26 does not move upward. Therefore, when the hand members 24 and 25 are brought closer to each other, the deviation of the posture of the object to be grasped 26 is absorbed, and FIG. ), When the hand members 24 and 25 are brought closer, the springs 76a and 76b are compressed by the gripped body 26, and the urging force of the springs 76a and 76b is increased. The body 26 is firmly held.

  As described above, in this embodiment, when there is a deviation in posture between the grasped body 26 and the hand members 24 and 25 when grasping the grasped body 26, the posture deviation of the grasped body 26 is linearly changed. The linear guide absorbed by the guide and pressed by the springs 76a and 76b can be firmly held, and the same effect as that of the first embodiment can be obtained.

  Further, since the hand members 24 and 25 grip the hollow gripping body 26 from the inside through the linear guides provided outside the hand members 24 and 25, the outside of the gripping body 26 is damaged. When it is not desired to attach the object, the deviation of the posture of the object to be grasped 26 can be absorbed and the object to be grasped 26 can be firmly grasped.

  In each of the above-described embodiments, the number of the hand members 24 and 25 that hold the gripping body 26 is only two for the sake of easy understanding, and the posture of the gripping body 26 is corrected by one degree of freedom. However, when correcting the deviation of the posture of the grasped body 26 by two degrees of freedom, it is sufficient to provide three or more hand members.

  As described above, the gripping device according to the present invention absorbs the posture deviation of the gripped body when the gripped body and the gripping means are misaligned when gripping the gripped body. It has the effect of being able to hold firmly, and is useful as a gripping device that can absorb the deviation of the posture of the gripped body when the gripped body is gripped and moved by a robot arm or the like.

BRIEF DESCRIPTION OF THE DRAWINGS It is a block diagram of the holding | grip apparatus of the 1st Embodiment of this invention, (a) shows the state which grips a to-be-held body from the outside, and absorbs the position shift, (b) shows the position shift. The absorbed state is shown. (A) shows the state which grips a to-be-held body from the inside with the holding | grip apparatus of 1st Embodiment, and absorbs the position shift, (b) shows the state which absorbed the position shift. It is a block diagram of the holding | gripping apparatus of the 2nd Embodiment of this invention, (a) shows the state which grips a to-be-held body from the outside, and absorbs the position shift, (b) shows the position shift. The absorbed state is shown. (A) shows the state which grips a to-be-held body from the inside with the holding | grip apparatus of 2nd Embodiment, and absorbs the position shift, (b) shows the state which absorbed the position shift. It is a block diagram of the holding | gripping apparatus of the 3rd Embodiment of this invention, (a) shows the state which grips a to-be-held body from the outside, and absorbs the position shift, (b) shows the position shift. The absorbed state is shown. (A) shows the state which grips a to-be-held body from the inside by the holding | grip apparatus of 3rd Embodiment, and absorbs the position shift, (b) shows the state which absorbed the position shift. It is a block diagram of the holding | gripping apparatus of the 4th Embodiment of this invention, (a) shows the state which grips a to-be-held body from the outside, and absorbs the position shift, (b) shows the position shift. The absorbed state is shown. (A) shows a state in which the object to be grasped is gripped from the inside by the grasping device of the fourth embodiment to absorb the deviation in posture, and (b) shows a state in which the deviation in posture is absorbed. It is a block diagram of the holding | gripping apparatus of the 5th Embodiment of this invention, (a) shows the state which grips a to-be-held body from the outside, and absorbs the position shift, (b) shows the position shift. The absorbed state is shown. It is a block diagram of the holding | gripping apparatus of the 6th Embodiment of this invention, (a) shows the state which hold | grips a to-be-held body from the inside, and absorbs the position shift, (b) shows the position shift. The absorbed state is shown. It is a block diagram of the holding | gripping apparatus of the 7th Embodiment of this invention, (a) shows the state which grips a to-be-held body from the outside, and absorbs the position shift, (b) shows the position shift. The absorbed state is shown. It is a block diagram of the holding | gripping apparatus of the 8th Embodiment of this invention, (a) shows the state which hold | grips a to-be-held body from the inside, and absorbs the position shift, (b) shows the position shift. The absorbed state is shown. It is a block diagram of the conventional holding | gripping apparatus. It is a block diagram of the other conventional holding | gripping apparatus.

Explanation of symbols

20 gripping device 21 arm member (moving means)
24, 25 Hand member (gripping means)
26 object to be grasped 27a, 27b member (absorbing member)
28a, 28b member (gripping member)
31a, 31b Rotating body (absorbing member)
32a, 32b member (gripping member)
41a member (absorbing member)
41b Member (gripping member)
51a, 51b Rotating body (absorbing member)
52 members (gripping members)
61a, 61b Rotating body (absorbing member)
62a, 62b Spring (biasing member, gripping member)
63a, 63b Rotating body (absorbing member)
64a, 64b Spring (biasing member, gripping member)
71, 72 Belt member (linear guide, absorbing member)
71a, 72a Guide plate (linear guide, absorbing member)
73a, 73b Spring (biasing member, gripping member)
74, 75 Belt member (linear guide, absorbing member)
74a, 75a Guide plate (linear guide, absorbing member)
76a, 76b Spring (biasing member, gripping member)

Claims (11)

In a gripping device for gripping and transporting a gripped object,
A gripping means for gripping the gripped body; and a moving means for transporting the gripping means,
The gripping means includes an absorbing member that absorbs a posture deviation of the gripped body when the gripped body is gripped, and a gripping member that grips the gripped body in which the posture deviation is absorbed by the absorbing member. A gripping device characterized by that. The gripping means has a plurality of hand members that can be opened and closed so as to be close to and away from each other.
The absorbing member is composed of a member having a small coefficient of friction provided at the tip of the hand member, and the gripping member is provided in a region excluding the tip of the hand member. The gripping device according to claim 1, further comprising a member having a large friction coefficient. The gripping means has a plurality of hand members that can be opened and closed so as to be close to and away from each other.
The absorbing member is composed of at least one rotating body provided at a tip portion of the hand member, and the gripping member is provided in a region excluding the tip portion of the hand member, and the tip of the hand member The gripping device according to claim 1, wherein the gripping device is configured by a member having a friction coefficient larger than that of the portion. The gripping means has a plurality of hand members that can be opened and closed so as to be close to and away from each other.
The absorbing member is composed of at least one member having a small friction coefficient provided on the surface of the hand member, and the gripping member has a friction coefficient provided on the surface of the hand member excluding the hand member. The gripping device according to claim 1, wherein the gripping device is constituted by a large member. The gripping means has a plurality of hand members that can be opened and closed so as to be close to and away from each other.
The absorbing member is composed of at least one member having a large friction coefficient provided on the surface of the hand member, and the gripping member is at least one or more hand members provided on the hand member excluding the hand member. The gripping device according to claim 1, comprising a rotating body. The gripping means has a plurality of hand members that can be opened and closed so as to be close to and away from each other.
The absorbing member is provided on the hand member and includes a rotating body that rotates in only one direction, and the gripping member is provided on the hand member and biases the rotating body toward the gripped body. The gripping device according to claim 1, wherein a rotation direction of the rotating body is opposite to a facing hand member. The gripping device according to claim 6, wherein the rotating body is provided inward in the proximity direction of the hand member. The gripping device according to claim 6, wherein the rotating body is provided outside the hand member in the separation direction. The gripping means has a plurality of hand members that can be opened and closed so as to be close to and away from each other.
The absorbing member is provided on the hand member, and is constituted by a linear guide that moves along the extending direction of the hand member. The gripping member is provided on the hand member, and the linear guide is placed on the gripped body side. The gripping device according to claim 1, comprising a biasing member that biases. The gripping device according to claim 9, wherein the linear guide is provided inward in the proximity direction of the hand member. The gripping device according to claim 9, wherein the linear guide is provided outside the hand member in the separation direction.

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