JP2011115876A - Gripper - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a gripper to be reduced in size. <P>SOLUTION: This gripper includes a driving source and a converting member for converting motion generated by the driving source into opening-closing motion for gripping a gripping object. The converting member is constituted of a buckling member and a displacement expanding member, and thus, the converting member can be miniaturized, and the driving source unsuitable for producing large displacement, for example, a solenoid can be used, and the gripper can be miniaturized thereby. <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.

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 conversion member that converts a motion generated by the drive source into an opening / closing motion for gripping an object to be gripped. The conversion member is composed of a buckling member and a displacement enlarging member.
The gripper according to claim 2 is the gripper according to claim 1, wherein the buckling member and the displacement enlarging member are integrated to form the conversion member.
The gripper according to claim 3 is the gripper according to claim 2, wherein the conversion member has a stepped shape at the boundary between the buckling member and the displacement enlarging member.
According to a fourth aspect of the present invention, in the gripper of the first aspect, the buckling member is supported by a substantially wedge-shaped or semi-circular groove.
A gripper according to claim 5 is the gripper according to claim 1, wherein the conversion member has a return spring function.
A gripper according to a sixth aspect is the gripper according to the first aspect, wherein a pressure is applied to the buckling member.
A gripper according to claim 7 is the gripper according to claim 1, wherein a solenoid is used as the drive source.

As described above, according to the gripper according to claim 1 of the present invention, the gripper includes: a drive source; and a conversion member that converts the motion generated by the drive source into an opening / closing motion for gripping an object to be gripped. Since the conversion member is composed of a buckling member and a displacement magnifying member, the conversion member can be miniaturized and a drive source that is not suitable for producing a large displacement, such as a solenoid, can be used. The gripper can be downsized.
Further, the gripper according to claim 2 is the gripper according to claim 1, wherein the buckling member and the displacement enlarging member are integrated to form the conversion member, so that the number of parts is reduced. Can be simplified.
The gripper according to claim 3 is the gripper according to claim 2, wherein the conversion member has a stepped shape at the boundary between the buckling member and the displacement enlarging member. Even if they are integrated, the buckling member can be easily supported.
The gripper according to claim 4 is the gripper according to claim 1, wherein the buckling member is supported by a groove having a substantially wedge shape or a semi-circular shape. Can smoothly rotate without slipping, whereby the movement on the displacement expanding member side is also smooth.
Further, the gripper according to claim 5 is the gripper according to claim 1, wherein the conversion member has a return spring function, so that it is not necessary to separately install a member for return, and the configuration is simplified and the parts The score can be reduced.
In addition, the gripper according to claim 6 is the gripper according to claim 1, wherein a pressure is applied to the buckling member, so that the direction of buckling can be clarified and a more stable operation can be provided. can do.
According to the seventh aspect of the present invention, the gripper according to the first aspect uses a solenoid as the drive source, so that the gripper can be effectively reduced in size.

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 cross-sectional view taken along the line cc of FIG. 1A, and FIG. 1D is a perspective view showing the relationship between the support plate, which is a component of the gripper, and the stepped elastic plate, as viewed from the lower surface side of the support plate. It is a figure which shows the 1st Embodiment of this invention, FIG. 2 (a) is a front view which shows the structure of a conversion member, FIG.2 (b) is a side view which shows the effect | action of a conversion member. It is a figure which shows the 1st Embodiment of this invention, and is a block diagram which shows the structure of the solenoid drive coil and the power supply device for solenoid drive devices. It is a figure which shows the 1st Embodiment of this invention, and is a figure which shows the voltage transient fluctuation | variation at the time of switching from DC24V to DC5V. It is a figure which shows the 1st Embodiment of this invention, and is a figure which shows the voltage transient fluctuation | variation at the time of switching from DC24V to DC5V. It is a figure which shows the 1st Embodiment of this invention and is a characteristic view which shows the relationship between a spring reaction force and a gap amount. 7A and 7B are views showing a second embodiment of the present invention, in which FIG. 7A is a plan view showing a configuration of a gripper, FIG. 7B is a cross-sectional view taken along line bb of FIG. 7A, and FIG. ) Is a cross-sectional view taken along the line cc in FIG. 7A, and FIG. 7D is a perspective view showing the relationship between the support plate, which is a component of the gripper, and the stepped elastic plate, as viewed from the lower surface side of the support plate.

Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. First, there is a solenoid housing 1, which has a substantially hollow cylindrical shape, and is composed of a bottom plate 1a, a top plate 1b, and a side wall 1c. In the solenoid housing 1, a solenoid 3 as a drive source is accommodated and arranged. The solenoid 3 includes a coil 5 and a movable portion 7 disposed on the inner peripheral side of the coil 5. The tip end portion {lower end in FIG. 1 (b)} of the movable portion 7 is a tapered portion 7a and has a tapered shape. A seating portion 9 is installed on the solenoid housing 1 side facing the taper portion 7a of the movable portion 7. The seating portion 9 is also formed with a tapered portion 9a. A gap 11 is formed between the tapered portion 7 a of the movable portion 7 and the tapered portion 9 a of the receiving portion 9.

The movable portion 7 has an axial shape, and protrudes and is disposed above the top plate 1c through an opening 1d provided at the center of the top plate 1b of the solenoid housing 1. A support plate 13 is installed at the upper end of the movable part 7. As shown in FIG. 1A, the support plate 13 has a disk shape. A pair of windows 19, 19 are respectively formed on the left and right sides of the support plate 13, and a displacement enlarging member 27 extends upward through the support plate 13. In FIG. 1A, semicircular support grooves 17, 17 are formed on the back surface of the support plate 13 above and below the windows 19, 19. A stepped portion 23 of a stepped elastic plate 21 described later is supported by the support grooves 17 and 17.

Between the support plate 13 and the solenoid housing 1, stepped elastic plates 21 and 21 are installed as conversion members. The stepped elastic plate 21 is made of a thin elastic material, such as a stainless steel plate or phosphor bronze plate, and is formed by punching into a stepped shape as shown in FIG. That is, as shown in FIG. 2A, the stepped elastic plate 21 is a single thin plate having a stepped shape. Then, with the stepped portion 23 as a boundary, the lower part in FIG. 2A is a buckling member 25 and the upper part is a displacement enlarging member 27. In this way, the buckling member 25 and the displacement enlarging member 27 are integrated to form a single plate material, thereby simplifying the configuration and reducing the number of parts.
The buckling member 25 used here is a member that exhibits a branched buckling phenomenon that begins to bend when the load reaches a certain value and changes to a deformable mode (flexible deformation) that is easily deformable.

In addition, the top plate 1b of the solenoid housing 1 already described is formed with a pair of semicircular support grooves 31, 31 at locations corresponding to the support grooves 17, 17 formed on the back surface of the support plate 13. Yes. The stepped elastic plates 21, 21 have the displacement expanding member 25 protruding and arranged upward through the windows 19, 19 of the support plate 13, and the stepped portion 23 is provided on the lower surface of the support plate 13. While being brought into contact with the support grooves 17, 17, the lower end of the buckling member 23 is installed in a state of being inserted into the pair of support grooves 31, 31 on the solenoid housing 1 side.

A stopper shaft 41 is attached to a predetermined position of the top plate 1b of the solenoid housing 1. The upper end of the stopper shaft 41 passes through a through hole 43 formed in the support plate 13, and a stopper ring 45 is attached to the upper end groove.

As shown by a solid line in FIG. 1B, when the solenoid 3 is in a non-excited state, the movable portion 7 and the support plate 13 are moved by the spring force of the stepped elastic plates 21 and 21 themselves as shown in FIG. ) It is energized upward in the middle. However, the urging amount is restricted to a fixed amount by a stopper ring 45 engaged with the stopper shaft 41. When the solenoid 3 is excited, the movable portion 7 and the support plate 13 are biased downward in FIG. 1B against the spring force of the stepped elastic plates 21 and 21 themselves. As a result, the buckling members 25 and 25 of the stepped elastic plates 21 and 21 are buckled, and as a result, the displacement expanding members 27 and 27 of the stepped elastic plates 21 and 21 are displaced in a direction approaching each other. Thereby, a workpiece (not shown) is gripped {as indicated by a virtual line in FIG. 1 (b)}.

Further, as shown in FIG. 1 (b), in the initial state where no current flows through the solenoid 3, the pair of stepped elastic plates 21 and 21 are slightly pressurized by the support plate 13. Yes. The buckling members 25, 25 below the stepped elastic plates 21, 21 are slightly warped outward in FIG. The buckling direction can be determined by this slight warpage. In this case, if a current is passed through the solenoid 3 and the buckling members 25 and 25 below the stepped elastic plates 21 and 21 are further compressed by the support plate 13, further warping to the outside occurs. In FIG. 1B, this state is indicated by a virtual line.

As shown in FIG. 1B, the pressurization is set by the stopper ring 45 attached to the upper portion of the stopper shaft 41 attached to the upper portion of the solenoid housing 1. This is realized by restricting the upward movement in FIG. That is, a structure in which a pressure is applied when the distance between the support groove 31 of the solenoid housing 1 and the support groove 17 of the support plate 13 is shorter than the length of the buckling members 25 and 25 below the stepped elastic plates 21 and 21. It has become.
As a method for determining the direction of warping, for example, the lateral positions of the upper and lower support grooves 17 and 31 are slightly shifted, and thereby the buckling member 25 at the lower portion of the stepped elastic plate 21 is used. A method of tilting can be considered.

Next, a configuration of a power supply device 51 for driving the solenoid (solenoid including the solenoid housing 1, the movable portion 7, and the coil 5) 3 will be described with reference to FIG. As shown in FIG. 3, the power supply device 51 includes a 24 VDC power supply 53, a 5 VDC power supply 55, a relay 57, a timer 59, and a capacitor (capacitor) 61. The 24VDC power supply 53 does not need to be separately prepared, for example, when it is drawn from a power supply for a linear actuator (not shown). The 5VDC power supply 55 is produced by a small and compact DC / DC converter. In the case of the present embodiment, the overexcitation magnification is 4.8 times as shown in the following formula (I).
24V ÷ 5V = 4.8-(I)

Then, at the initial driving of the exciting coil 5, the movable portion 7 is vigorously attracted by a high voltage (overexcitation, in this embodiment, 24V). On the other hand, when the movable part 7 comes close to the seating part 9, it is configured to suppress heat generation by switching to a low voltage (normal excitation, 5V in this embodiment). Therefore, the solenoid 3 can be further downsized by using this overexcitation power source.

Switching between overexcitation and normal excitation is performed by the relay 57 and timer 59. In other words, the time for overexcitation by the timer 59 is set in advance, and when the set time elapses, the relay 57 is operated to switch the contact 57a, thereby changing from overexcitation to normal excitation. It is to switch.
In this embodiment, a contact (contact 57a) relay is used as the relay 57, but a contactless FET relay or the like can be used in addition to that.

Even if it is a contact relay 57 like this embodiment, or a non-contact FET relay, the switching is high-speed. However, there is a concern that at the time of switching, the excitation voltage does not smoothly shift from 24V to 5V and the excitation voltage drops to 5V or less. This will be described with reference to FIG. FIG. 4 is a graph showing a change in voltage when switching from over-excitation to normal excitation (voltage transient fluctuation when switching from 24 V to 5 V) with time (ms) on the horizontal axis and voltage (V) on the vertical axis. It is. As shown in FIG. 4, it can be seen that the switching voltage does not smoothly shift from 24V to 5V at the time of switching, and the excitation voltage has dropped to 5V or less. When such a phenomenon occurs, the sucked movable part 7 returns.

Therefore, in the present embodiment, a capacitor (capacitor) 61 is connected to the exciting coil 5 in parallel. As a result, the time constant of the circuit is increased to smoothly shift from 24V to 5V. The voltage change at that time is shown in FIG. FIG. 5 also shows a change in voltage when switching from over-excitation to normal excitation (voltage transient at the time of switching from 24 V to 5 V) with time (ms) on the horizontal axis and voltage (V) on the vertical axis. It is. As shown in FIG. 5, it can be seen that the voltage smoothly transitions from 24 V to 5 V at the time of switching, and the excitation voltage does not decrease to 5 V or less.

In the case of the present embodiment, as already described, by using the stepped elastic plates 21 and 21 as the conversion member having the return spring function, a separate spring component for return is not required separately from the conversion member. Since it is configured, the gripper can be reduced in size. Further, the stepped elastic plates 21 and 21 exhibit substantially linear spring characteristics, that is, the greater the amount of deformation, the greater the restoring force (spring force), so that the original It can return smoothly to its shape.

Further, when the stepped elastic plates 21 and 21 are deformed, the solenoid 3 as a drive source can be used with high efficiency. This will be described with reference to FIG. FIG. 6 is a diagram showing the relationship between the horizontal axis indicating the amount (mm) of the gap 11 and the vertical axis indicating the suction force of the solenoid 3 and the spring reaction force of the stepped elastic plate 21. A diagram a in FIG. 6 shows the attractive force of the solenoid 3, and a diagram b shows the spring reaction force of the stepped elastic plate 21.

As shown in FIG. 6, the driving force (suction force) of the solenoid 3 is not constant and increases rapidly as the gap 11 becomes narrower. Further, the spring reaction force of the stepped elastic plate 21 having a substantially linear spring characteristic increases as the gap 11 decreases (when the deformation amount increases), as in the solenoid 3. Therefore, as shown in FIG. 6, when the deformation of the stepped elastic plate 21 is small, the spring reaction force is small, and the driving force (suction force of the solenoid 3) required for the deformation is small. On the other hand, when the deformation of the stepped elastic plate 21 is increased, a large driving force (solenoid 3 suction force) required for the deformation is required. That is, by using the stepped elastic plate 21 having a substantially linear spring characteristic, the suction force of the solenoid 3 can be used more effectively, the power consumption of the solenoid 3 can be reduced, and the size can be reduced. Is feasible.

Further, by using the plate-like stepped elastic plate 21 as the conversion member, the rigidity in the left-right direction in FIG. 1B is low, and the rigidity in the direction perpendicular to the paper surface in FIG. 1B is high. . Thereby, it can restrict | limit so that it may deform | transform only in the left-right direction in FIG.1 (b), and what is called an elastic guide can be comprised. Therefore, the linear guide which has been conventionally required can be omitted.

The operation will be described based on the above configuration. First, in FIG. 1B, when the coil 5 of the solenoid 3 is energized, the movable portion 7 moves downward in FIG. 1B against the elastic return force of the pair of stepped elastic members 21 and 21. . Accordingly, when the buckling members 25 and 25 of the pair of stepped elastic plates 21 and 21 are compressed, the buckling members 25 and 25 warp in a convex state toward the outer side in FIG. The phantom line in FIG. 1B shows the warped state. Further, when the buckling members 25, 25 of the pair of stepped elastic plates 21, 21 are slightly compressed and warped, the end portions, that is, the displacement enlarging members 27, 27 are rotated. This is shown by the imaginary line in FIG.

The rotation of the displacement enlarging member 27 will be described in detail with reference to FIG. As shown in FIG. 2B, when the lower end b portion of the displacement enlarging member 27 rotates by an angle θ, the upper end a portion of the displacement enlarging member 27 generates a large displacement δ in the left-right direction in FIG. It will be. The relationship between the displacement δ and the rotation angle θ is expressed by the following equation (II).
δ = L × sin θ --- (II)
However,
δ: Displacement of the upper end of the stepped elastic plate L: Length of the upper portion of the stepped elastic plate θ: Angle of rotation of the lower end during compression buckling of the lower portion of the stepped elastic plate

That is, the pair of stepped elastic plates 21, 21 cause rotation (θ) of the lower ends of the upper displacement enlarging members 27, 27 by the compression buckling of the lower buckling members 25, 25. , 27 causes a larger displacement (δ) based on the rotation. And the workpiece | work which is not shown in figure is hold | gripped when the front-end | tip of the displacement expansion members 27 and 27 of the upper part of said pair of stepped elastic plates 21 and 21 moves in the direction which mutually approaches.

On the contrary, by cutting off the current to the solenoid 3, the lower portions of the pair of stepped elastic plates 21, 21, that is, the buckling members 25, 25 extend from the state compressed by the spring restoring force. . As a result, the support plate 13 is pushed up to return to the substantially straight state of the initial state. This is an initial state indicated by a solid line in FIG. At this time, if there is a workpiece between the displacement enlarging members 27, 27 on the upper part of the pair of stepped elastic plates 21, 21, the gripping is released.

As described above, according to the present embodiment, the following effects can be obtained.
First, since the stepped elastic plate 21 in which the buckling member 25 and the displacement enlarging member 27 are integrated is used as the conversion member, the use of the solenoid 3 which is a drive source not suitable for producing a large displacement is used. This makes it possible to reduce the size of the gripper.
Moreover, since the stepped elastic plate 21 in which the buckling member 25 and the displacement enlarging member 27 are integrated as described above is used, the number of parts can be reduced and the configuration can be simplified.
Further, as shown in this embodiment, by using the stepped elastic plates 21 and 21 having a return spring function, not only the rotation for causing a large displacement is caused but also the stepped elastic plate. It is possible to eliminate the need to provide a return spring component separately from 21 and 21 and to realize a reduction in size of the gripper.
In this embodiment, a pressure is applied to the pair of stepped elastic plates 21, 21. As a result, the first deformation mode (compression deformation) at the time of buckling has already been passed, so that the transition to the bending deformation mode is made promptly.
Further, the buckling members 25 and 25 exhibit substantially linear spring characteristics under pressure, and the greater the amount of deformation, the greater the restoring force (spring force). As a result, the solenoid 3 is de-energized. Even in this case, the original shape can be smoothly returned.
In addition, since a substantially linear spring characteristic can be provided, the solenoid 3 as a drive source can also be used with high efficiency. That is, as described above, the driving force (suction force) of the solenoid 3 is not constant and increases rapidly as the gap 11 becomes narrower. On the other hand, as with the solenoid 3, the spring reaction force increases as the gap 11 decreases (when the compression amount increases) as in the solenoid 3. Therefore, as shown in FIG. 6, the spring reaction force is small when the deformation of the spring is small, and the driving force (suction force of the solenoid 3) required for the deformation may be small. On the other hand, when the deformation of the spring increases, the driving force required for the deformation (the suction force of the solenoid 3) needs to be large. Then, as shown in FIG. 6, by using the stepped elastic plates 21 and 21 having substantially linear spring characteristics, the suction force of the solenoid 3 can be used more effectively, reducing the power consumption of the solenoid 3 and reducing the size. Can be realized.
In addition, as the grooves for supporting the pair of stepped elastic plates 21, 21, the substantially semicircular support grooves 17, 31 are provided in the upper part of the solenoid housing 1 and the lower part of the support plate 13. The end portions of the buckling members 25 and 25 are smoothly rotated without being slid in the left-right direction in FIG.
The support grooves 17 and 31 are not limited to a substantially semicircular shape, and for example, the same effect can be obtained even if the support grooves 17 and 31 have a substantially wedge shape.
Further, with the rotation of the lower end of the buckling members 25, 25 below the stepped elastic plates 21, 21, the displacement magnifying members 27, 27 above the integrated stepped elastic plates also rotate greatly. However, at this time, windows 19, 19 are opened in the support plate 13 so that the upper portions of the displacement enlarging members 27, 27 do not interfere with the support plate 13. The widths of the windows 19 and 19 (the window width in the vertical direction in FIG. 1A) are slightly larger than the widths of the displacement expanding members 27 and 27 on the upper portions of the stepped elastic plates 21 and 21. The rotation of the expansion members 27, 27 is not impaired.
Further, the pair of stepped elastic plates 21 and 21 has a low rigidity in the inner surface direction of FIG. 1B and a higher rigidity in the direction perpendicular to the inner surface of FIG. It is restricted to be deformed only in the in-plane direction and constitutes a so-called elastic guide. Therefore, the guide that has been necessary in the past can be omitted.

In this embodiment, two stepped elastic plates 21 having a gripping function are used, but one or three or more elastic plates 21 may be used depending on the work.
As described above, in the first embodiment, since a complicated mechanism such as a gear or a cam is not used, not only the miniaturization is easy, but there is no friction of the gear or the cam, and the mechanical efficiency due to the friction loss. Not only can it be reduced, it can be reduced in size, but it can also be reduced in size and power consumption by using a stepped elastic plate with a return spring function and displacement expansion function and a solenoid as a drive source. .

Next, a second embodiment of the present invention will be described with reference to FIG. In the case of the first embodiment, the pair of stepped elastic plates 21 and 21 are slightly bent outward by the pressurization, but in the case of the second embodiment, conversely, It is designed to warp inward.
Other configurations are the same as those in the case of the first embodiment, and the same reference numerals are given to the same portions in the drawing, and the description thereof is omitted.

If it is small and has low rigidity, the reversal of the warping direction in the initial pressurizing state can be easily carried out by pushing with a finger or the like. That is, the opening and closing directions of the stepped elastic plates 21 and 21 can be set to either with the same members and configurations, and it is not necessary to prepare two types of grippers depending on the opening and closing directions.
Incidentally, in the case of this embodiment, as shown in FIG. 7 (b), by causing a current to flow through the solenoid 3, the movable portion 7 of the solenoid 3 is made to narrow the gap 11 of the solenoid 3. That is, it moves downward in FIG. As a result, the support plate 13 joined to the movable portion 7 also moves downward, and the buckling members 25 and 25 below the stepped elastic plates 21 and 21 are compressed. When the buckling members 25 and 25 are compressed, the stepped elastic plates 21 and 21 warp inward in FIG. 7B, and the buckling members below the stepped elastic plates 21 and 21. The end portions of 25 and 25 rotate, and the displacement expanding members 27 and 27 above the stepped elastics 21 and 21 also rotate, causing a large displacement in the left-right direction in the figure, and the two stepped elastic plates 21 and The space | interval of the upper part of 21 becomes wide. If there is a workpiece between the two stepped elastic plates 21, 21, the gripping is released. If the current of the solenoid 3 is stopped, the lower portions of the stepped elastic plates 21 and 21 extend from a state compressed by the spring restoring force, push up the support plate 13, and return to a substantially straight state in the initial state. Return. This is an initial state indicated by a solid line in FIG. At this time, if there is a workpiece between the two stepped elastic plates 21, 21, the workpiece is gripped.

Therefore, the same effect as in the case of the first embodiment can be obtained.

The present invention is not limited to the first and second embodiments.
For example, in the first and second embodiments, a stepped elastic plate is described as an example of the conversion member, but various shapes are assumed.
In the first and second embodiments, the tip of the solenoid movable portion and the corresponding housing seating portion are tapered. However, even if the taper is not formed and flattened, the gap amount is increased. Needless to say, it can be implemented.
In the case of the first and second embodiments, the example in which a pair of conversion members are used has been described. However, when three or four or more workpieces are used depending on the workpiece shape, gripping can be made more stable. There is also.
Moreover, although the implementation example of the solenoid is given as the drive source, this is merely an example, and other drive systems are not excluded.

The present invention relates to a gripper that is a gripping device for a workpiece or the like used for an industrial robot, for example, and particularly relates to a device that has been devised so as to be able to reduce its size, for example, for industrial use installed in a narrow space. Suitable for robots.

1 Solenoid Housing 3 Solenoid 5 Coil 7 Movable Part 13 Support Plate 21 Stepped Elastic Plate (Conversion Member)
23 Stepped portion 25 Buckling member 27 Displacement expanding member

Claims (7)

A driving source, and a conversion member that converts the movement generated by the driving source into an opening / closing movement for gripping an object to be grasped,
The gripper characterized in that the conversion member includes a buckling member and a displacement enlarging member. The gripper of claim 1,
A gripper, wherein the buckling member and the displacement enlarging member are integrated to form the conversion member. The gripper according to claim 2,
The conversion member has a stepped shape at the boundary between the buckling member and the displacement enlarging member. The gripper of claim 1,
The gripper, wherein the buckling member is supported by a substantially wedge-shaped or semi-circular groove. The gripper of claim 1,
The gripper according to claim 1, wherein the buckling member has a return spring function. The gripper of claim 1,
A gripper characterized in that a pressure is applied to the buckling member. The gripper of claim 1,
A gripper using a solenoid as the drive source.

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