JP2006341361A - Grip device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a grip device suitable for gripping a minute member. <P>SOLUTION: When a rotary member 230 is rotated in one direction in a state (a) of closing front ends of finger portions 101, bent portions 335 of the finger portions 101 are pressed inward by rotary bearings 422, 423, in a manner depicting circular arcs according to the rotation of the rotary member 230. When the rotary member 230 is continuously rotated against energizing force of a compressive spring 501, rear ends of the finger portions 101 are progressively closed while the front ends of the same are progressively opened. On the other hand, when the rotary member 230 is rotated in the other direction in a state (b) of opening the front ends of the finger portions 101, the bent portions 335 of the finger portions 101 are moved outward by following the rotary bearings 422, 423 moving in a manner depicting circular arcs according to the rotation of the rotary member 230. When the rotary member 230 is continuously rotated, the rear ends of the finger portions 101 are progressively opened and the front ends of the same are progressively closed. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a gripping device suitable for gripping minute parts.

  In the field of R & D and high-mix low-volume production, micro parts such as laser diodes are mounted at predetermined positions on a substrate using tweezers or the like under a microscope.

  However, when gripping a minute part with tweezers or the like, it is difficult to adjust the force, and there is a possibility that the minute part will be repelled or damaged.

  In Japanese Patent Laid-Open No. 11-320472, a spring means provided between two gripping claws biases the rear end of the gripping claw in a widening direction, and a gripping claw with a piston in contact with the rear end of the gripping claw. A fluid-operated gripping device that opens and closes a gripping claw by pushing the rear end in a closing direction is disclosed.

In addition, International Publication WO99 / 30877 pamphlet discloses a microactuator that opens and closes the tip of the gripping finger by translating the central apex of the gripping finger formed in a substantially M shape back and forth. .
JP-A-11-320472 International publication WO99 / 30877 pamphlet

  An object of the present invention is to provide a gripping device suitable for gripping a minute part.

  The gripping device according to the present invention includes a pair of finger portions, at least one of which can swing around a support shaft, and a biasing force that biases the at least one finger portion in a direction in which the tips of the pair of finger portions are closed. A member (e.g., a spring) and a rotating member that is placed behind the at least one finger portion and is rotatable about a rotation axis that is perpendicular to the axial direction of the support shaft. A protrusion for rotating one of the fingers, and when the rotating member rotates in one direction, the protrusion is arranged in a direction in which the rear ends of the pair of fingers are closed; The outer surface of the rear end is pushed.

  In this case, the rear end portion of the at least one finger portion may be formed in an L shape.

  Each of the pair of finger portions may swing around a support shaft, and the rotating member may have a pair of protrusions for rotating each of the pair of finger portions. Further, the urging member is disposed between the pair of finger portions and behind the support shaft, and urges the pair of finger portions in a direction in which rear ends of the pair of finger portions open. It may be. The rear end portions of the pair of finger portions may be formed in an L shape, and the rear end portions formed in the L shape may be arranged alternately in the vertical direction.

  Another gripping device according to the present invention biases at least one finger portion in a direction in which at least one of the finger portions can swing around a support shaft and a tip of the pair of finger portions opens. An urging member; and a rotating member placed behind the at least one finger portion and rotatable about a rotation axis perpendicular to the axial direction of the support shaft, wherein the rotating member is the at least one finger. A protrusion for rotating the portion, and when the rotating member rotates in one direction, the protrusion is configured such that the rear end of the at least one finger portion is in a direction in which the rear ends of the pair of finger portions open. It is characterized by pushing the inner surface of the.

  In this case, each of the pair of finger portions can swing around a support shaft, and the rotating member may have a pair of protrusions for rotating each of the pair of finger portions. Good. Further, the urging member is disposed between the pair of finger portions and disposed behind the support shaft so as to urge the pair of finger portions in a direction in which a rear end of the pair of finger portions is closed. It may be.

  In the above case, the pair of protrusions may be provided at different radial distances from the rotation center of the rotating member. Moreover, you may make it the length of a pair of said finger part differ. Further, the longer finger part may have three protrusions on its gripping surface.

  Further, in the above case, until the pair of finger parts grips the gripping object, the finger parts come into contact with each other, and after the pair of finger parts grips the gripping object, the finger parts bend. Accordingly, a grip detection member that does not come into contact with the finger portion may be further provided.

  In the above case, at least one tip of the pair of finger portions may be exchangeable. Further, the replaceable tip portion may be fixed to the finger portion by a member that restricts movement of the tip portion in the left-right direction and a member that restricts movement in the up-down direction.

  Moreover, in the above case, you may make it further provide the rotation drive part (for example, motor) which rotates the said rotation member.

  A gripping system according to the present invention includes the gripping device and a rotation mechanism that rotates the gripping device.

  According to the present invention, a gripping device suitable for gripping a micro component is provided.

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

  FIG. 1 is a diagram showing a use state of a gripping device according to the present invention. The figure shows an example in which the gripping device according to the present invention is used for work under a microscope.

  As shown in the figure, a gripping device 100 according to the present invention includes a pair of finger portions 101 for gripping (holding) a gripping object, and is attached to an XYZ stage 120 by a main body holder 110. It has been. The XYZ stage 120 includes an X-axis adjustment knob 121, a Y-axis adjustment knob 122, and a Z-axis adjustment knob 123. By adjusting the knobs 121 to 123, the position of the gripping device 100 can be adjusted. it can. The XYZ stage 120 is placed on a pedestal 130 fixed to the apparatus base 140, and the height of the gripping apparatus 100 can be adjusted by adjusting the height of the pedestal 130.

  A work base 150 for performing various operations using the gripping device 100 is attached to an XYθ stage 160 fixed to the device base 140. The XYθ stage 160 includes an X-axis adjustment knob 161, a Y-axis adjustment knob 162, and a θ-axis (horizontal rotation) adjustment knob 163. By adjusting the knobs 161 to 163, the position of the work base 150 is adjusted. And the orientation (the position and orientation of the grasped object placed on the work base 150) can be adjusted.

  Since the gripping device 100 according to the present invention can be miniaturized, even when the revolver 170 of the microscope is rotated to switch the objective lenses 171 to 173 having different magnifications, interference with the gripping device 100 or the like occurs. You can work under a microscope without having to

  Next, the details of the structure of the gripping device 100 will be described.

  FIG. 2 is a cross-sectional view for explaining the structure of the gripping device 100. As shown in the figure, the gripping device 100 includes a finger portion 101, a main body base 220, a rotating member 230, a rotating shaft 240, and motors 250 and 260 with gear heads.

  The finger portion 101 is a member that swings around the support shaft 211 and is a member for gripping (holding) a gripping target object. As described above, the gripping device 100 includes a pair, that is, two finger portions 101. Details of the finger unit 101 will be described later.

  The main body base 220 is a member that constitutes the base of the gripping device 100, and the finger portion 101 is attached to the front end portion thereof via the support shaft 211, and the rear portion thereof is connected to the rotation bearings 241 and 242. The member to which the rotating shaft 240 is attached. In addition, the main body base 220 is rotatably supported by the rotary bearings 221 and 222 at the rear portion thereof, and a gear 223 for rotating the gripping device 100 is mounted between the two. In the figure, the main body cover (see FIG. 1) covering the front portion of the main body base 220 is omitted.

  The rotating member 230 is a member that is attached to the distal end portion of the rotating shaft 240, and is a member that rotates around a rotating shaft orthogonal to the support shaft 211 in conjunction with the rotation of the rotating shaft 240. The rotating member 230 is disposed behind the finger portion 101, and has a protrusion for rotating the finger portion 101 on a rotating surface facing the rear end of the finger portion 101. Details of the rotating member 230 will be described later.

  The rotary shaft 240 is a member that is rotatably supported by the rotary bearings 241 and 242, and the rotary member 230 is attached to the front end portion thereof, and the rear end portion thereof is connected to the rotary shaft of the motor 250 with a gear head. .

  The gear head-equipped motor 250 rotates the rotating member 230 via the rotating shaft 240. The motor 250 with gear head is held by a motor cover 251 and a motor fixing cap 252 fixed to the main body base 220. In the figure, wirings for supplying power and control signals to the motor 250 with gear head are omitted.

  The manual knob 253 is a member that is attached to the rear end of the rotation shaft of the motor 250 with gear head, and is a member that is used when a gripping operation is performed manually. By rotating the manual knob 253 by hand, the rotating member 230 can be rotated via the rotating shaft 240.

  The gear head-equipped motor 260 rotates the gripping device 100 via a gear 261 mounted on the rotating shaft and a gear 223 that meshes with the gear 261. By providing the rotation mechanism composed of the motor 260 with gear head, the gear 261, and the gear 223, the gripping device 100 can be rotated while gripping the gripping object, and the gripping object can be easily turned over. You can do it. The motor 260 with gear head is fixed to the main body holder 110 by a motor fixing ring 262 and a motor fixing screw 263. Note that wiring and the like for supplying power and control signals are also omitted for the motor 260 with gear head.

  Next, the structure of the finger part 101 will be described.

  FIG. 3 is a view showing the structure of the finger portion 101. In addition, since the thing of the same structure can be used for a pair of finger part 101, in the same figure, only one finger part 101 is shown.

  As shown in the figure, the finger portion 101 is composed of three members 310, 320, and 330. More specifically, it is constituted by a tip member 310 that constitutes a tip portion of the finger portion 101, an intermediate member 320 that constitutes an intermediate portion of the finger portion 101, and a rear member 330 that constitutes a rear portion of the finger portion 101. Yes. In addition, although the finger part 101 is comprised with three members here, the structure of the finger part 101 is not restricted to this. For example, the finger part 101 may be configured by a single member.

  As shown in the figure, the tip member 310 and the intermediate member 320 are made up of an alignment hole 311, 312 formed in the tip member 310 and an alignment pin 321 press-fitted into the hole formed in the intermediate member 320. , 322, and after being aligned, they are coupled by screwing using screw holes 313 formed in the tip member 310 and the intermediate member 320. Further, the intermediate member 320 and the rear member 330 are connected by screwing using the screw fastening holes 331 and 332 formed in the intermediate member 320 and the rear member 330.

  Further, as shown in the figure, the intermediate member 320 is formed with a hole 323 into which a support shaft serving as a swing center of the finger portion 101 is inserted, and a screw hole 324 for fixing the support shaft. Is formed. The holes 323 and 324 are positioned closer to the tip of the finger part 101, that is, the distance from the holes 323 and 324 to the tip of the finger part 101 is shorter than the distance from the holes 323 and 324 to the rear end of the finger part 101. It is formed in such a position.

  Moreover, as shown in the figure, the rear end portion of the rear member 330 is formed in an L shape. That is, the rear end portion of the rear member 330 is first bent inward in a direction perpendicular to the longitudinal direction of the rear member 330, and further bent toward the rear side in the longitudinal direction of the rear member 330. Further, the vertical widths of the bent portions 334 and 335 formed in an L shape are formed so as to be narrower than half of the vertical width of other portions of the rear member 330. As will be described later, when the outer surface of the bent portion 335 is pushed by a protrusion provided on the rotating surface of the rotating member 230, the finger portion 101 rotates so that the rear end is closed.

  Furthermore, a ring-shaped convex portion 333 is formed on the inner side surface of the rear member 330 in the vicinity of the rear end portion. The convex portion 333 is for fitting an end portion of a compression spring described later.

  Next, the structure of the rotating member 230 will be described.

  FIG. 4 is a view showing the structure of the rotating member 230. As shown in the figure, the rotating member 230 has a substantially cylindrical outer shape, and a hole 401 for fitting the rotating shaft 240 is formed at the center, and pins are fitted on both sides of the hole 401. Holes 402 and 403 are formed.

  Pins 412 and 413 are fitted into the holes 402 and 403, and rotational bearings 422 and 423 are attached to the tips of the pins 412 and 413. The rotary bearings 422 and 423 constitute a protrusion provided on the rotary surface of the rotary member 230 described above.

  Next, the opening / closing operation | movement of the finger part 101 is demonstrated.

  FIGS. 5A and 5B are diagrams for explaining the opening / closing operation of the finger part 101. FIG. 5A shows a closed state of the finger part 101, and FIG. 5B shows an open state of the finger part 101. ing.

  As shown in the figure, the pair of finger portions 101 are arranged so that the bent portions 334 and 335 formed in an L shape are staggered in the vertical direction, and between the two finger portions 101, A compression (coil) spring 501 is disposed as an urging member. Each end portion of the compression spring 501 is fitted into a convex portion formed in the vicinity of the rear end portion inside each finger portion 101, and the rear end of the finger portion 101 is urged by the compression spring 501 in the spreading direction. Has been.

  When the rotating member 230 is rotated in the direction of the arrow shown in FIG. 10A in the state shown in FIG. 10A, the rotating bearing 422 moves so as to draw an arc as the rotating member 230 rotates. By 423, the bent portion 335 of the finger portion 101 is pushed inward. When the rotating member 230 is rotated as it is against the urging force of the compression spring 501, the rear end of the finger part 101 is closed and the front end of the finger part 101 is opened. As a result, finally, the open state shown in FIG.

  On the other hand, when the rotary member 230 is rotated in the direction of the arrow shown in FIG. 5B in the state shown in FIG. 5B, the finger portion 101 is attached in the direction in which the rear end is opened by the compression spring 501. Therefore, the bent portion 335 of the finger portion 101 moves outward following the rotating bearings 422 and 423 that move so as to draw an arc as the rotating member 230 rotates. When the rotating member 230 is rotated as it is, the rear end of the finger part 101 opens and the front end of the finger part 101 closes. As a result, the closed state shown in FIG.

  As described above, in the gripping device 100, the gripping object can be gripped and released at the tip of the finger unit 101 by rotating the rotating member 230 left and right.

  Therefore, by finely controlling the rotation of the rotating member 230, it is possible to finely control the amount of force for grasping the grasped object. In the gripping device 100, the support shaft 211 is disposed at a position closer to the tip of the finger unit 101, and the distance from the support shaft 211 to the tip (gripping unit) of the finger unit 101 is the back of the finger unit 101 from the support shaft 211. Since it is shorter than the distance to the end (the portion pushed by the rotary bearings 422 and 423), it is easy to finely control the amount of movement of the tip of the finger portion 101.

  Further, in the gripping device 100, since the maximum value of the gripping force is determined by the biasing force of the compression spring 501 that biases the finger unit 101 in the direction of closing the tip of the finger unit 101, the compression spring that generates an appropriate biasing force. By selecting 501, it is possible to prevent damage to the grasped object.

  Further, in the gripping device 100, since the rear end portion of the finger portion 101 is formed in an L shape, the diameter of the rotating member 230 can be reduced compared with the case where the finger portion 101 is not formed in an L shape. The apparatus 100 can be reduced in size.

  In the above-described gripping device 100, the finger portion 101 is urged in the direction in which the rear end of the finger portion 101 opens by the compression spring 501 disposed after the support shaft 211. It is also conceivable that a (coil) spring is disposed in front of the support shaft 211 and the finger portion 101 is urged by the tension spring in a direction in which the rear end of the finger portion 101 opens.

  Further, in the above-described gripping device 100, the compression spring 501 urges the finger 101 in the direction in which the rear end of the finger 101 opens, and the protrusion (rotation bearing) provided on the rotation surface of the rotating member 230. 422, 423), the finger part 101 is rotated by pushing the outer surface of the rear end part (bending part 335) of the finger part 101 in the direction in which the rear end of the finger part 101 is closed. Instead of the compression spring 501 as a biasing member, a tension spring is disposed between the two finger portions 101 to bias the finger portion 101 in the direction in which the rear end of the finger portion 101 is closed, and the rotation surface of the rotating member 230. By a protrusion (in this case, disposed so as to be sandwiched between the rear ends of the pair of fingers 101). By pushing the inner surface of the rear end portion of the finger portion 101 (for example, the inner surface of the rear end portion of the rear member 330 not provided with the bent portions 334 and 335 described above) in the direction in which the rear end of the portion 101 opens, A configuration in which the finger portion 101 is rotated is also conceivable.

  Next, another embodiment of the gripping device according to the present invention will be described. In the following, only portions that are substantially different from the above-described gripping device 100 will be basically described.

  First, as another embodiment of the gripping device according to the present invention, a gripping device capable of detecting that a gripping target is gripped will be described. Although the gripping of the gripping object by the gripping device 100 can be confirmed by visual observation, the present embodiment makes it possible to detect the gripping of the gripping object more accurately.

  FIG. 6 is a diagram for explaining the grip detection operation in the present embodiment. FIG. 6 (a) shows a state immediately before gripping the gripping object, and FIG. 6 (b) shows the gripping object. The state after gripping is shown.

  As shown in the figure, in this embodiment, the gripping device includes an insulating bracket 610 and a detection member 620 in order to detect gripping of the gripping object 601.

  The insulating bracket 610 is a member for attaching the detection member 620 to the finger portion 101 while electrically insulating. As shown in the figure, the insulating bracket 610 is screwed to the intermediate member 320 and the rear member 330 of one finger portion 101 by screws.

  The detection member 620 is a member for detecting gripping of the gripping object 601, is disposed between the two finger portions 101, and is screwed to the insulating bracket 610 with screws. The detection member 620 has a bent portion 621 at one end thereof.

  As shown in FIG. 5A, before the gripping object 601 is gripped, the bent portion 621 of the detection member 620 is in contact with the vicinity of the rear end portion of the finger portion 101.

  When the rotating member 230 is further rotated from the state shown in FIG. 5A and the object 601 is held by the tip of the finger portion 101, the detection member 620 is bent as shown in FIG. The part 621 does not come into contact with the finger part 101. This is because the tip of the finger unit 101 cannot be closed any more because the tip of the finger unit 101 grips the gripping object 601, but if the rotation of the rotating member 230 is continued as it is, This is because the finger member (more precisely, the rear member 330) is deflected by the biasing force of the compression spring 501 trying to expand the end, while the detection member 620 is not bent.

  Therefore, it is possible to determine that the gripping device grips the gripping object 601 by monitoring the electrical continuity between the detection member 620 and the finger portion 101 (rear member 330). That is, until the gripping object 601 is gripped, both the finger portion 101 and the detection member 620 move without being bent, so the contact state between the finger portion 101 and the detection member 620 is maintained, and both are in a conductive state. However, when the gripping object 601 is gripped, the rear member 330 of the finger 101 is bent outward, so that it does not come into contact with the detection member 620 and both are electrically cut off. By detecting the blocking, it is possible to detect the gripping of the gripping object 601.

  Next, as another embodiment of the gripping device according to the present invention, a gripping device in which a pair of finger portions perform an asymmetric operation will be described.

  In the embodiment described above, the pair of finger portions 101 performs a symmetrical operation, but in the present embodiment, the pair of finger portions perform an asymmetrical operation.

  FIG. 7 is a diagram for explaining the opening / closing operation of the finger portions 101a and 101b in the present embodiment, in which FIG. 7 (a) shows the closed state of the finger portions 101a and 101b, and FIG. The open state of the finger parts 101a and 101b is shown.

  As shown in the figure, the finger portions 101a and 101b in the present embodiment are different from the above-described finger portion 101 in the shapes of the tip member and the rear member (bent portion). In addition, the shapes of the front end member and the rear member (bent portion) are also different on the left and right.

  Further, as shown in the figure, the position of the pin fitted in the rotating member 230 ′ is different from that of the rotating member 230 described above. That is, in the rotating member 230, the two pins are arranged at the same distance from the rotation center, whereas in the rotating member 230 ′, the two pins are arranged at different distances from the rotation center. Has been. More specifically, the pin 412 ′ is disposed closer to the center of rotation than the pin 413 ′.

  When the rotating member 230 ′ is rotated by a certain angle, the pin 412 ′ arranged near the rotation center has a relatively short horizontal movement distance, and the pin 413 ′ arranged far from the rotation center is horizontal. The moving distance in the direction is relatively long. Therefore, the swinging width of the finger portion 101a where the rear end portion (bent portion 335 ′) is pushed by the pin 412 ′ arranged near the rotation center is reduced, and the rear end portion is arranged by the pin 413 ′ arranged far from the rotation center. The swinging width of the finger portion 101b where the portion (bent portion 335 ′) is pushed increases.

  Further, in the rotating member 230 ′ of the present embodiment, the bent portions 335 ′ of the finger portions 101a and 101b are pushed by the pins themselves without mounting the rotating bearings on the pins as in the rotating member 230 described above. . Whether the protrusion provided on the rotating member for rotating the finger part is constituted by a member that is in rolling contact with the rear end part of the finger part or a member that is in sliding contact depends on whether the gripping device is used. It is determined as appropriate according to the required durability, size, and other mounting conditions.

  Note that the tip members 310a and 310b of the finger portions 101a and 101b are bent so that the tips thereof are displaced toward the finger portion 101b having a large swing width. This is due to the swing of the left and right finger portions 101a and 101b. This is because the object to be grasped can be grasped at the center of the apparatus regardless of the width. In addition, the tip of the tip member 310b of the finger portion 101b having a large deflection width is bent inward so that the tip of the tip member 310b hits the grasped object at an appropriate angle.

  According to the present embodiment, since the swing width of one finger portion 101a can be extremely small, the finger portion 101a having the smaller swing width is used as a reference to perform alignment with the object to be gripped. Regardless of the degree of opening of the tip of the part, it is possible to accurately align the gripping object and the tip of the finger part (grip part).

  Note that when only considering that the object to be grasped and the tip of the finger part (gripping part) can be aligned as accurately as possible, one finger part is fixed and only the other finger part swings. It is also conceivable to adopt a configuration that does this.

  Next, as another embodiment of the gripping device according to the present invention, a gripping device capable of easily exchanging the tip of the finger portion will be described.

  FIG. 8 is a view showing the structure of the finger portion 101 ′ in the present embodiment. FIG. 8A shows a state where the tip member constituting the tip portion of the finger portion 101 ′ is removed, and FIG. ) Shows a state in which the tip member is mounted.

  In the state shown in FIG. 6A, the tip member 310 ′ constituting the tip portion of the finger portion 101 ′ is pushed from the front into the intermediate member 320 ′ constituting the middle portion of the finger portion 101 ′. Then, as shown in FIG. 4B, the tip member 310 ′ is fixed to the intermediate member 320 ′. That is, by pressing the tip member 310 ′ against the side surface 821 of the intermediate member 320 ′ by the pressing portion 831 formed at the tip of the rear member 330 ′ constituting the rear part of the finger portion 101 ′, the tip member 310 ′ The tip member 310 ′ is placed on the lower portion of the intermediate member 320 ′ by the pressing pin 823 fitted in the pressing portion 822 formed on the upper portion of the intermediate member 320 ′ by restricting the movement in the left-right direction. By pushing against the top end member 310, the vertical movement of the tip member 310 ′ is restricted. Further, the pressing pin 823 engages with a V-shaped groove 811 formed on the upper surface of the tip member 310 ', thereby restricting the movement of the tip member 310' in the front-rear direction. Since the mounting portion 824 has a recessed central portion and the pressing pin 823 is disposed above the recess, the tip member 310 ′ is supported by the pressing pin 823 and the mounting portion 824 at three points.

  On the other hand, when the tip member 310 ′ is replaced in the state shown in FIG. 5B, when the tip member 310 ′ is pulled forward with a certain force or more, the engagement between the V-shaped groove 811 and the pressing pin 823 is performed. The tip member 310 ′ can be removed as shown in FIG.

  In the present embodiment, since the tip member 310 ′ of the finger portion 101 ′ can be easily replaced, it is possible to select a tip member having an appropriate shape and material according to the work location, the characteristics of the gripping object, and the like. It becomes possible.

  Next, as another embodiment of the gripping device according to the present invention, a gripping device in which the shape of the tip portion of the finger portion is different on the left and right will be described.

  FIG. 9 is a diagram showing the structure of the tip portion of the finger portion in the present embodiment.

  FIG. 4A shows a case where the length of the tip member of the finger portion 101 is different on the left and right. Thus, if the length of the tip member of the finger portion 101 is different on the left and right, as shown in FIG. 5A, the gripping object 901 is moved to the longer tip by the shorter tip member 310b ′. It is pressed against the member 310a ′, and the gripping object 901 can be gripped stably.

  In FIG. 5B, the lengths of the tip members of the finger portions 101 are different on the left and right sides, and a cylindrical surface is formed on the gripping surface (the surface in contact with the gripping object 901) of the longer tip member 310a ″. The case where three protrusions 910 are formed is shown.In this case, the object 901 to be grasped is pressed against the longer tip member 310a ″ by the shorter tip member 310b ′ and the longer tip member 310a ″. Since the three gripping surfaces are supported by three projections arranged to form a triangle, the gripping object 901 can be gripped more stably.

It is a figure which shows the use condition of the holding | gripping apparatus by this invention. 3 is a cross-sectional view for explaining the structure of the gripping device 100. FIG. FIG. 3 is a diagram showing a structure of a finger part 101. FIG. 6 is a view showing the structure of a rotating member 230 It is a figure for demonstrating the opening / closing operation | movement of the finger part. It is a figure for demonstrating a holding | grip detection operation | movement. It is a figure for demonstrating the opening / closing operation | movement of the finger parts 101a and 101b. It is a figure which shows the structure of finger part 101 'with which a front-end | tip member is replaceable. It is a figure which shows the structure of the front-end | tip part of a finger part.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Grip apparatus 101,101a, 101b, 101 'Finger part 110 Main body holder 120 XYZ stage 121 X-axis adjustment knob 122 Y-axis adjustment knob 123 Z-axis adjustment knob 130 Base 140 Device base 150 Work base 160 XYθ stage 161 X-axis adjustment knob 162 Y-axis adjustment knob 163 θ-axis adjustment knob 170 Revolver 171 to 173 Objective lens 211 Support shaft 220 Main body base 223 Gear 230, 230 ′ Rotating member 240 Rotating shaft 241, 242 Rotating bearing 250 Motor with gear head 251 Motor cover 252 Motor fixing cap 253 Manual knob 260 Motor with gear head 261 Gear 262 Motor fixing ring 263 Motor fixing screw 310, 301a, 301b, 310 ′, 31 0a ′, 310b ′, 310a ″ Tip member 311, 312 Positioning hole 313 Screwing hole 320, 320 ′ Intermediate member 321, 322 Positioning pin 323 Spindle hole 324 Screw hole 330, 330 ′ Rear member 331 , 332 Screwing hole 333 Protruding part 334, 335 Bending part 401, 402, 403 Hole 412, 413, 412 ′, 413 ′ Pin 422, 423 Rotating bearing 601 Holding object 610 Insulating bracket 620 Detecting member 621 Bending part 811 V-shaped groove 821 Side surface 822 Pressing part 823 Pressing pin 824 Placement part 831 Pressing part 901 Grasping object 910 Protrusion

Claims (16)

A pair of finger portions at least one of which can swing around a support shaft;
A biasing member that biases the at least one finger portion in a direction in which the ends of the pair of finger portions are closed;
A rotating member placed behind the at least one finger portion and rotatable about a rotation axis perpendicular to the axial direction of the support shaft;
The rotating member has a protrusion for rotating the at least one finger part,
When the rotating member rotates in one direction, the protruding portion pushes the outer surface of the rear end portion of the at least one finger portion in a direction in which the rear ends of the pair of finger portions are closed. . The gripping device according to claim 1, wherein a rear end portion of the at least one finger portion is formed in an L shape. Each of the pair of finger portions is swingable about a support shaft,
The gripping device according to claim 1, wherein the rotating member has a pair of protrusions for rotating each of the pair of finger portions. The biasing member is disposed between the pair of finger portions and is disposed behind the support shaft, and biases the pair of finger portions in a direction in which rear ends of the pair of finger portions open. The gripping device according to claim 3. Each of the rear end portions of the pair of finger portions is formed in an L shape,
The gripping device according to claim 3, wherein the rear end portions formed in an L shape are arranged to be staggered in the vertical direction. A pair of finger portions at least one of which can swing around a support shaft;
A biasing member that biases the at least one finger portion in a direction in which the tips of the pair of finger portions open;
A rotating member placed behind the at least one finger portion and rotatable about a rotation axis perpendicular to the axial direction of the support shaft;
The rotating member has a protrusion for rotating the at least one finger part,
When the rotating member rotates in one direction, the protruding portion pushes an inner surface of the rear end portion of the at least one finger portion in a direction in which the rear ends of the pair of finger portions open. . Each of the pair of finger portions is swingable about a support shaft,
The gripping device according to claim 6, wherein the rotating member has a pair of protrusions for rotating each of the pair of finger portions. The biasing member is disposed between the pair of finger portions and is disposed behind the support shaft, and biases the pair of finger portions in a direction in which rear ends of the pair of finger portions are closed. The gripping device according to claim 7. The gripping device according to claim 3, wherein the pair of protrusions are provided at different radial distances from the rotation center of the rotating member. The gripping device according to any one of claims 1 to 9, wherein the pair of finger portions have different lengths. The gripping device according to claim 10, wherein the longer finger portion has three protrusions on a gripping surface thereof. Until the pair of finger parts grip the object to be grasped, the finger parts are in contact with each other,
The grip detection member according to claim 1, further comprising a grip detection member that does not come into contact with the finger portion when the finger portion is bent after the pair of finger portions grips an object to be gripped. The gripping device according to any one of the above. The gripping device according to any one of claims 1 to 12, wherein at least one tip portion of the pair of finger portions is replaceable. The replaceable tip portion is fixed to the finger portion by a member that restricts movement in the left-right direction of the tip portion and a member that restricts movement in the up-down direction. Gripping device. The gripping device according to claim 1, further comprising a rotation driving unit that rotates the rotating member. The gripping device according to any one of claims 1 to 15,
A gripping system comprising: a rotation mechanism that rotates the gripping device.

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