JP2011093045A - Gripper - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a gripper reducible in size. <P>SOLUTION: The gripper includes a drive source; and a gripping member for converting motion generated by the drive source to opening/closing motion for gripping an article to be gripped, and the gripping member has at least two inverted positions of stable shapes. Thereby, a small sized gripper with a simple constitution can be provided. Furthermore, since the gripper does not have a constitution that a gear and a cam are used, friction is not generated and the deterioration of mechanical efficiency caused by a friction loss is also reduced. Furthermore, since the gripping member retains at least two stable shapes, energization may be only performed at switching and an energization time relative to the drive source can be shortened. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

The present invention relates to, for example, a gripper that is mounted on an industrial robot and selectively grips a workpiece or the like, and more particularly, to a device that is devised so that the size can be reduced.

In general, a gripper for gripping a workpiece is an indispensable device for using an industrial robot. This type of gripper is required to have a sufficient gripping force for reliably gripping a workpiece and to be downsized. That is, if the gripper is small and light, the industrial robot can operate faster and more quickly.

Therefore, as the conventional gripper, an air gripper using an air cylinder that is very easy to downsize is often used. However, an air cylinder or the like using a high pressure air is required 10 times the electric power equipment by a pipe loss to high pressure air production and its air device by the compressor, supposed to be contrary to CO ₂ reduction of global warming End up. For that reason, advanced companies are removing air piping from factories.

  In the gripper, electric grippers have been commercialized as an alternative to conventional air grippers. However, those electric grippers have not been sufficiently miniaturized. For example, an excellent electric gripper is disclosed in Patent Document 1.

The electric gripper disclosed in Patent Literature 1 generates a gripping force by converting a rotational force of a rotary motor into a straight traveling direction using a cam and an inverted V-shaped member.

Another electric gripper is disclosed in Patent Document 2.

The electric gripper disclosed in Patent Document 2 generates a gripping force by converting a rotational force of a rotary motor into a straight traveling direction using a cam and a linear guide.

  Further, another electric gripper is disclosed in Patent Document 3.

The electric gripper disclosed in Patent Document 3 generates a gripping force by converting the rotational force of a rotary motor into a straight direction using a worm gear and a worm wheel gear.
Patent Document 3 is from the applicant of the present patent.

Japanese Patent No. 3469249 JP 2005-059118 A JP 2006-082141 A

The conventional configuration has the following problems. In other words, the electric grippers disclosed in Patent Document 1, Patent Document 2, and Patent Document 3 are all provided with excellent characteristics as a substitute for the conventional air gripper, but their miniaturization is insufficient. There was a problem that there was. That is, the electric gripper disclosed in Patent Document 1 must use a cam and an inverted V-shaped member, and the electric gripper disclosed in Patent Document 2 must use a cam and a linear guide. Furthermore, the electric gripper disclosed in Patent Document 3 must use a worm gear, a worm wheel gear, and the like. In either case, the number of parts is large and the apparatus is enlarged.

The present invention has been made based on such points, and an object thereof is to provide a gripper that can be miniaturized.

In order to achieve the above object, a gripper according to claim 1 of the present invention comprises a drive source and a gripping member for converting a motion generated by the drive source into an opening / closing motion for gripping an object to be gripped. The gripping member has at least two positions that are stable by reversal.
According to a second aspect of the present invention, the gripper according to the first aspect is characterized in that the gripping member has at least two shape-stable positions due to a jumping buckling phenomenon.
According to a third aspect of the present invention, the gripper according to the second aspect is characterized in that a buckling member having a substantially dome-shaped convex portion is used as the gripping member.
A gripper according to claim 4 is the gripper according to claim 1, wherein a solenoid is used as the drive source.
According to a fifth aspect of the present invention, the gripper according to the first aspect is characterized in that a current is allowed to flow only in a short time when switching to gripping or releasing.

As described above, a gripper according to claim 1 of the present invention includes a drive source and a gripping member that converts a motion generated by the drive source into an opening / closing motion for gripping an object to be gripped. Since the gripping member has at least two positions that are stable by reversal, basically the gripper is composed of only the drive source and the gripping member, so the configuration is simplified and the device is downsized. Can be achieved. In addition, since it is not a configuration using gears, cams, etc., there is no friction and there is little reduction in mechanical efficiency due to friction loss. Further, since the gripping member holds at least two stable shapes, it is sufficient to energize only when switching, and the energization time for the drive source can be shortened.
Further, the gripper according to claim 2 is the gripper according to claim 1, wherein the gripping member has at least two shape-stable positions due to a jumping buckling phenomenon. An effect can be obtained reliably.
In addition, the gripper according to claim 3 is configured to use a buckling member having a substantially dome-shaped convex portion as the gripping member in the gripper according to claim 2, so that the above effect can be obtained with a relatively simple configuration. You can definitely get it.
Further, the gripper according to claim 4 is the gripper according to claim 1, wherein a solenoid is used as the driving source. Therefore, a large driving force can be obtained with a relatively simple configuration, and the size reduction can be facilitated. .
Further, the gripper according to claim 5 is configured such that the current flows only for a short time when switching to gripping or releasing in the gripper according to claim 1, so that the energization time to the drive source can be shortened. Thus, power saving and downsizing can be realized.

1A and 1B are views showing a first embodiment of the present invention, in which FIG. 1A is a plan view showing a configuration of a gripper, FIG. 1B is a cross-sectional view taken along line bb of FIG. ) Is a bottom view of the gripper. It is a figure which shows the 1st Embodiment of this invention and is a top view which shows the U-shaped board | plate material before becoming a holding member. 3A and 3B are views showing a first embodiment of the present invention, in which FIG. 3A is a front view of the gripping member, FIG. 3B is a side view of the gripping member, and FIG. 3C is a top view of the gripping member; FIG. 3D is a perspective view of the gripping member. 4A and 4B are views showing a second embodiment of the present invention, in which FIG. 4A is a plan view showing the configuration of the gripper, FIG. 8B is a cross-sectional view taken along line bb of FIG. ) Is a bottom view of the gripper. 5A and 5B are views showing a third embodiment of the present invention, in which FIG. 5A is a plan view showing the configuration of the gripper, FIG. 5B is a cross-sectional view taken along line bb of FIG. ) Is a bottom view of the gripper. 6A and 6B are views showing a fourth embodiment of the present invention, in which FIG. 6A is a plan view showing a configuration of a gripper, FIG. 6B is a cross-sectional view taken along line bb of FIG. ) Is a bottom view of the gripper.

  Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. 1A is a plan view showing the configuration of the gripper 1 according to the present embodiment, FIG. 1B is a cross-sectional view taken along line bb of FIG. 1A, and FIG. 1C is a bottom view of the gripper 1. is there. First, there is a support plate 3, and two solenoids 5, 7, 9, 11 are installed on the left and right sides of the support plate 3 in FIG.

  The solenoid 5 includes a housing 5a made of a magnetic material, an excitation coil 5b accommodated and arranged in the housing 5a, and a movable body 5c as an iron core movably installed on the inner peripheral side of the excitation coil 5b. It is composed of A gap 5d is formed between the tip of the movable body 5c and the seating portion 5e of the housing 5a. Then, by exciting the exciting coil 5b by flowing a current, the movable body 5c moves in the left direction in FIG. 1B (the direction in which the gap 5d is filled).

  The solenoid 7 has the same configuration as that of the solenoid 5, but its direction is opposite to the left and right. That is, the solenoid 7 includes a housing 7a, an excitation coil 7b accommodated and arranged in the housing 7a, and a movable body 7c installed movably on the inner peripheral side of the excitation coil 7b. . A gap 7d is formed between the tip of the movable body 7c and the seating portion 7e of the housing 7a. Then, by exciting the exciting coil 7b by passing a current, the movable body 7c moves in the right direction in FIG. 1A (the direction in which the gap 7d is filled).

  The solenoid 9 includes a housing 9a, an excitation coil 9b accommodated and disposed in the housing 9a, and a movable body 9c installed movably on the inner peripheral side of the excitation coil 9b. A gap 9d is formed between the tip of the movable body 9c and the seating portion 9e of the housing 9a. Then, by exciting the exciting coil 9b by flowing a current, the movable body 9c moves in the right direction in FIG. 1A (the direction in which the gap 9d is filled).

  The solenoid 11 has the same configuration as that of the solenoid 9, but the direction is reversed. That is, the solenoid 11 includes a housing 11a, an excitation coil 11b accommodated and disposed in the housing 11a, and a movable body 11c that is movably installed on the inner peripheral side of the excitation coil 11b. . A gap 11d is formed between the distal end of the movable body 11c and the seating portion 11e of the housing 11a. When the coil 11b is energized by exciting the coil 11b, the movable body 11c moves in the left direction in FIG. 1A (the direction in which the gap 11d is filled).

A pair of gripping members 21 and 23 are installed below the support plate 3 in FIG. 1B and between the solenoids 5 and 7 and the solenoids 9 and 11. The grip members 21 and 23 are configured as shown in FIGS. First, as shown in FIG. 2, a plate member 25 having a U-shaped flat plate having a predetermined size is prepared, and the two ends 25a and 25b are drawn and overlapped and joined by welding (spot welding) or adhesion. Thereby, the holding members 21 and 23 as elastic bodies having a dome shape as shown in FIG. 3 are obtained.
In addition, as a material of the holding members 21 and 23, although a stainless steel plate, a phosphor bronze plate, etc. are considered as a preferable material, for example, it is not limited to them.

The gripping member 21 has a configuration including a base 21a, a tip gripping part 21b, and a convex part 21c, and has a shape protruding in a state where the convex part 21c is curved. An opening 21d is formed at the center. And the holding member 21 is being fixed to the instruction | indication board 3 via the said base 21a. The gripping member 21 has two stable shapes, and one is in a state indicated by a solid line in FIG. When the convex portion 21c is pressed in the right direction in FIG. 3 (b) from that state, the whole is inverted and becomes a state as indicated by a virtual line in the drawing. This state is the second stable shape.
The convex portion 21c functions as a protrusion when the gripping member 21 is in a state indicated by a solid line in FIG. 3B. In contrast, the gripping member 21 is an imaginary portion in FIG. When in the state indicated by the line, the back side of the convex portion 21c functions as the convex portion 21c '.
The gripping member 23 has the same configuration as the gripping member 21. In the figure, the same parts are indicated by reference numerals 23 with a, b, c, d symbols.

The above reversal phenomenon is mechanically called “jumping buckling phenomenon (snap-through buckling)”. That is, the gripping members 21 and 23 as elastic bodies having a substantially dome shape have two shape-stable positions by inversion due to the “jumping buckling phenomenon (snap-through buckling)”.

Further, in this embodiment, as shown in FIG. 2, the holding members 21 and 23 as elastic bodies having a substantially dome shape are formed by joining the two ends 25a and 25b of the U-shaped plate member 25. However, it is not limited to this. For example, it is conceivable to manufacture by other manufacturing methods such as molding by plastic processing such as press processing.

  The gripping member 21 is installed in a state related to the solenoids 5 and 7 side. That is, an L-shaped pressing member 31 is attached to the proximal end of the movable body 5c of the solenoid 5, and the tip of the L-shaped pressing member 31 is a convex portion of the gripping member 21 in FIG. It is arranged on the right side (outside) of 21c. Also, another L-shaped pressing member 33 is attached to the tip of the movable body 7c of the solenoid 7. The L-shaped pressing member 33 is installed in a state of penetrating the housing 7a, and the tip thereof is disposed on the left side (inside) of the convex portion 21c of the gripping member 21 in FIG.

  Then, when the movable body 5c moves in the left direction in FIG. 1B by exciting the excitation coil 5b of the solenoid 5, the L-shaped pressing member 31 moves near the convex portion 21c in the left direction in FIG. 1B. Energize to. Thereby, the holding member 21 is inverted from the state indicated by the solid line in FIG. 1B to the state indicated by the virtual line. This state is a state of gripping a workpiece (not shown). On the contrary, when the movable body 7c moves to the right in FIG. 1B by exciting the exciting coil 7b of the solenoid 7, the L-shaped pressing member 33 near the convex portion 21c ′ in FIG. 1A. Energize in the right direction. Thereby, the holding member 21 is inverted from the state indicated by the phantom line in FIG. 1B to the state indicated by the solid line. This state is a state in which gripping of a workpiece (not shown) is released.

  On the other hand, the gripping member 23 is installed in a state related to the solenoids 9 and 11 side. That is, an L-shaped pressing member 35 is attached to the base end of the movable body 9c of the solenoid 9, and the tip of the L-shaped pressing member 35 is on the left side of the convex portion 23c in FIG. (Outside). Further, another L-shaped pressing member 37 is also attached to the tip of the movable body 11 c of the solenoid 11. The L-shaped pressing member 37 is installed in a state of penetrating the housing 11a, and the tip thereof is disposed on the right side (inside) in FIG. 1B of the convex portion 23c.

  When the movable body 9c moves in the right direction in FIG. 1A by exciting the excitation coil 9b of the solenoid 9, the L-shaped pressing member 35 moves in the vicinity of the convex portion 23c in the right direction in FIG. 1A. Energize to. Thereby, the gripping member 23 is displaced from the state indicated by the solid line in FIG. 1B to the state indicated by the phantom line. This state is a state of gripping a workpiece (not shown). Conversely, when the movable body 11c moves in the left direction in FIG. 1B by exciting the exciting coil 11b of the solenoid 11, the L-shaped pressing member 37 near the convex portion 23c ′ in FIG. 1B. Energize leftward. Thereby, the gripping member 23 is displaced from the state indicated by the phantom line in FIG. 1B to the state indicated by the solid line. This state is a state in which gripping of a workpiece (not shown) is released.

The operation will be described based on the above configuration.
First, when a workpiece (not shown) is not gripped, it is in a state as indicated by a solid line in FIG. From this state, current is passed through the exciting coils 5b and 9b of the solenoids 5 and 9 to excite them. Thereby, the movable body 5c of the solenoid 5 moves leftward in FIG. 1B, and the movable body 9c of the solenoid 9 moves rightward in FIG. 1B. The vicinity of the convex portion 21c of the gripping member 21 is urged to the left in FIG. 1B by the L-shaped pressing member 31, while the vicinity of the convex portion 23c of the gripping member 23 is pressed by the L-shaped pressing member 35. Is urged to the right in FIG. As a result, the gripping members 21 and 23 are inverted from the state indicated by the solid line in FIG. This makes it possible to grip a workpiece (not shown).
At this time, the current flows through the exciting coils 5b and 9b of the solenoids 5 and 9 only at the time of switching. This is because when the gripping members 21 and 23 are reversed, the shape at the time of the gripping function is stably maintained, and even when the energization to the exciting coils 5b and 9b is released, the gripping members 21 and 23 are stable. This is because the shape does not change.

Next, the case of releasing the workpiece grip will be described. In this case, current is passed through the excitation coils 7b and 11b of the solenoids 7 and 11 for excitation. As a result, the movable body 7c of the solenoid 7 moves to the right in FIG. 1B, and the movable body 11c of the solenoid 11 moves to the left in FIG. 1B. And the convex part 21c 'vicinity of the holding member 21 is urged | biased rightward in FIG.1 (b) by the L-shaped pressing member 33, and on the other hand, the convex part 23c of the holding member 23 by the L-shaped pressing member 37. The vicinity is biased in the left direction in FIG. As a result, the holding members 21 and 23 are displaced from the state indicated by the phantom line in FIG. 1B to the state indicated by the solid line. As a result, the gripping of the workpiece (not shown) is released.
At this time, the current flows through the exciting coils 7b and 11b of the solenoids 7 and 11 only at the time of switching. This is because when the gripping members 21 and 23 are reversed, the shape when the gripping function is released is stably maintained. Even when the energization to the excitation coils 7b and 11 is released, the gripping members 21 and 23 are stable. This is because the shape is not changed.

As described above, according to the present embodiment, the following effects can be obtained.
First, the gripper can be reduced in size. That is, in the case of the conventional electric gripper, as in the conventional example described above, the rotary motion from the rotary motor is converted into a linear motion using a cam, gear, linear guide, etc. Since the configuration is complicated and requires a space, it is difficult to reduce the size. On the other hand, the gripper 1 of the present embodiment is configured so as to obtain linear motion directly using the solenoids 5, 7, 9, 11 and the gripping members 21, 23, so that the configuration is simple. In addition, the size can be reduced.
In addition, since it is not a configuration using gears, cams, etc., there is no friction and there is little reduction in mechanical efficiency due to friction loss.
In addition, the gripping members 21 and 23 used in the present embodiment have larger displacement amounts of the tip gripping portions 21b and 23b that grip the workpiece than the displacement amounts of the convex portions 21c and 23c. Function can be obtained. With this displacement enlargement function, a solenoid capable of generating a large driving force with a relatively small stroke can be used effectively, that is, a large gripping stroke can be obtained with a small displacement of the movable part of the solenoid.
As in the present embodiment, it is possible to reverse the position by pressing the positions close to the tip portions 21b and 23b without pressing the vicinity of the convex portions 21c and 23c of the gripping members 21 and 23. Such a large displacement enlarging function cannot be used.
Further, since the holding members 21 and 23 as elastic bodies having a dome shape have two stable shapes, the dome shape can be formed even if current does not continue to flow through the solenoids 5, 7, 9, and 11. Due to the spring reaction force of the elastic body, the gripping state of the workpiece can be continued or the released state can be continued. Therefore, it is only necessary to pass an electric current only when it is desired to switch to gripping or releasing the workpiece, and a short-time energization is sufficient. Thereby, significant power saving can be achieved.
In addition, since energization is performed for a short time, a large current can be passed, and the drive sources such as the solenoids 5, 7, 9, 11 can be downsized.
Further, in FIG. 1B, the gripping members 21 and 23 as elastic bodies having a dome shape are low in rigidity in the direction parallel to the paper surface, while in the direction perpendicular to the paper surface. Since its rigidity is high, it is restricted to be deformed only in a direction parallel to the paper surface, and constitutes a so-called “elastic guide”. As a result, it is possible to omit a guide that has been conventionally required.

Next, a second embodiment of the present invention will be described with reference to FIG. In the case of the first embodiment, the configuration in which the gripping members 21 and 23 are disposed between the two solenoids 5 and 7 and the solenoids 9 and 11 has been described as an example. In the case of the second embodiment, a configuration is shown in which gripping members 21 and 23 are arranged on the outer sides of two solenoids 5 and 7 and two solenoids 9 and 11 respectively.
In the figure, the same parts as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

The operation will be described based on the above configuration.
First, the gripping members 21 and 23 are in a state as indicated by a solid line in FIG. From this state, current is passed through the exciting coils 7b and 11b of the solenoids 7 and 11 to excite them. As a result, the movable body 7c of the solenoid 7 moves to the left in FIG. 4B, and the movable body 11c of the solenoid 11 moves to the right in FIG. 4B. And the convex part 21c of the holding member 21 is urged | biased in the left direction in FIG.4 (b) by the L-shaped pressing member 33, On the other hand, the convex part 23c of the holding member 23 is FIG. (B) It is urged in the middle right direction. As a result, the gripping members 21 and 23 are displaced from the state indicated by the solid line in FIG. 4B to the state indicated by the phantom line. This makes it possible to grip a workpiece (not shown).

  Next, the case of releasing the workpiece grip will be described. In this case, current is passed through the excitation coils 5b and 9b of the solenoids 5 and 9 for excitation. As a result, the movable body 5c of the solenoid moves in the right direction in FIG. 4B, and the movable body 9c of the solenoid 9 moves in the left direction in FIG. 4B. Then, the convex portion 21c ′ of the gripping member 21 is urged rightward in FIG. 4B by the L-shaped pressing member 31, while the convex portion 23c ′ of the gripping member 23 is biased by the L-shaped pressing member 35. Is urged to the left in FIG. As a result, the gripping members 21 and 23 are displaced from the state indicated by the phantom line in FIG. 4B to the state indicated by the solid line. As a result, the gripping of the workpiece (not shown) is released.

  As described above, also in the case of the second embodiment, the same effects as in the case of the first embodiment can be obtained. In addition, since the gripping members 21 and 23 are arranged outside the solenoids 5 and 7 and the solenoids 9 and 11 respectively on the left and right, the gap between the gripping members 21 and 23 is increased, and a larger workpiece can be gripped. It becomes a suitable structure.

  Next, a third embodiment of the present invention will be described with reference to FIG. In the case of the first and second embodiments, the example using two gripping members 21 and 23 has been described. However, in the case of the third embodiment, one gripping member is used. An example using only 71 is shown. This will be described below.

5A is a plan view showing the configuration of the gripper 61 according to this embodiment, FIG. 5B is a cross-sectional view taken along line bb of FIG. 5A, and FIG. 5C is a bottom view of the gripper 61. is there. First, there is a support plate 63. On the lower side of the support plate 63 in FIG.

  The solenoid 65 includes a housing 65a, an excitation coil 65b accommodated and arranged in the housing 65a, and a movable body 65c installed movably on the inner peripheral side of the excitation coil 65b. A gap 65d is formed between the distal end of the movable body 65c and the seating portion 65e of the housing 65a. Then, by exciting the exciting coil 65b with a current, the movable body 65c moves in the right direction in FIG. 5B (the direction in which the gap 65d is filled).

  The solenoid 67 has the same configuration as that of the solenoid 65, but its direction is opposite to the left and right. That is, the solenoid 67 includes a housing 67a, an excitation coil 67b accommodated and disposed in the housing 67a, and a movable body 67c that is movably installed on the inner peripheral side of the excitation coil 67b. . A gap 67d is formed between the tip of the movable body 67c and the seating portion 67e of the housing 67a. Then, by exciting the exciting coil 67b with a current, the movable body 67c moves in the left direction in FIG. 5B (the direction in which the gap 67d is filled).

  A holding member 71 is installed on the lower surface side of the support plate 63 in FIG. 5B and between the solenoids 65 and 67. In this example, the base 71a of the gripping member 71 is inserted into and joined to the groove formed in the support plate 63 by slit processing. The gripping member 71 has the same configuration as the gripping members 21 and 23 described in the first and second embodiments, and includes a base 71a, a tip gripping portion 71b, a convex portion 71c (71c ′), and an opening. 71d.

  The pressing members 73 and 75 are respectively provided at the distal ends of the movable bodies 65c and 67c of the solenoids 65 and 67 described above. The pressing members 75 and 77 penetrate the housings 65a and 67a, and the gripping member 71 is provided. The convex portion 71c (71c ′) is disposed. Further, a holding fixing member 77 is attached to the housing 67a of the solenoid 67 already described.

The operation will be described based on the above configuration.
First, when a workpiece (not shown) is not gripped, it is in a state indicated by a solid line in FIG. In order to grip the workpiece from this state, current is passed through the exciting coil 67b of the solenoid 67 for excitation. As a result, the movable body 67c moves to the left in FIG. And the convex part 71c 'of the holding member 71 is urged | biased by the left direction in FIG.5 (b) by the press member 75, and the holding member 71 is in the state shown with a virtual line from the state shown in FIG.1 (b). Displace. Thereby, a workpiece (not shown) is gripped by the gripping member 71 and the gripping fixing member 77.

  On the other hand, when it is intended to release the grip of the workpiece, current is passed through the exciting coil 65b of the solenoid 65 to excite it. Thereby, the movable body 65c moves in the right direction in FIG. And the convex part 71c 'of the holding member 71 is urged | biased rightward in FIG.5 (b) by the press member 73, and the holding member 71 is in the state shown as a continuous line from the state shown in the phantom line in FIG.5 (b). Displace. Thereby, the gripping of the workpiece (not shown) is released.

  As described above, also in the case of the third embodiment, substantially the same operations and effects as in the case of the first and second embodiments can be achieved. In addition, by using one of the holding fixing members, the number of solenoids is reduced, so that the number of parts can be reduced as a whole and the configuration can be simplified.

Next, a fourth embodiment of the present invention will be described with reference to FIG. In the case of the third embodiment, the pressing members 73 and 75 are configured to press the position of the convex portion 71c (71c ′) of the gripping member 71. On the other hand, in the case of the fourth embodiment, it is configured to press the position closer to the distal end side against the convex portion 71c.
The other configuration is the same as that of the third embodiment, and the same parts are denoted by the same reference numerals in the drawings, and the description thereof is omitted.

  According to the above configuration, the same effect as in the case of the third embodiment can be obtained, and the position closer to the tip side is pressed against the convex portion 71c having high rigidity. Although the pressing displacement amount slightly increases, the reversal is facilitated by the moment force, so that the pressing force is reduced.

In addition, in the case of the said 1st-4th embodiment, although the example using two holding members as an elastic body which makes a substantially dome shape was given and explained, the example using one was explained, but it is limited to it. It is not something. For example, a configuration using three or more gripping members as elastic bodies having a substantially dome shape may be used.
Incidentally, when three gripping members as elastic bodies having a substantially dome shape are used, a configuration like a so-called “three claws” in which three gripping members are arranged at a position of 120 ° is assumed. .

The present invention relates to a gripper, and in particular, to a gripper that has been devised so as to reduce the size thereof. For example, it is suitable for a gripper that is mounted on an industrial robot and selectively grips a workpiece or the like.

DESCRIPTION OF SYMBOLS 1 Gripper 3 Support plate 5 Solenoid 7 Solenoid 9 Solenoid 11 Solenoid 21 Holding member 21a Base part 21b Tip part 21c Convex part 21d Opening part
23 gripping member 23a base 23b tip 23c convex 23d opening

Claims (5)

A driving source, and a gripping member that converts the motion generated by the driving source into an opening / closing motion for gripping an object to be gripped,
The gripper characterized in that the gripping member has at least two positions that are shape-stable by reversal. The gripper of claim 1,
The gripper according to claim 1, wherein the gripping member has at least two positions whose shape is stable due to a jumping buckling phenomenon. The gripper according to claim 2,
A gripper using a buckling member having a substantially dome-shaped convex portion as the gripping member. The gripper of claim 1,
A gripper using a solenoid as the drive source. The gripper of claim 1,
A gripper characterized by flowing an electric current only for a short time when switching to gripping or releasing.

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