JP2011177862A - Gripping device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a gripping device capable of gripping a plurality of kinds of objects which have different dimensions, and shortening corresponding time when changing the kinds of the gripped objects, without enlarging a driving device of the gripping device. <P>SOLUTION: The gripping device 10 grips the plurality of kinds of the objects 1, 2 which have different dimensions to move. The gripping device 10 includes a grip portion 3 driven to grip the objects 1, 2, a holding body 5 movably holding the grip portion 3, and an attachment 7 which can be installed to the grip portion 3. The grip portion 3 can grip the object 1 of a first kind when the attachment 7 is not installed, and can grip the object 2 of a second kind through the attachment 7 when the attachment 7 is installed. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a gripping device capable of gripping a plurality of types of objects having different dimensions.

  The gripping device is, for example, an industrial robot that transports an object at an extraction position to another position. The gripping device includes a gripping unit that grips an object for transporting the object.

  For example, Patent Document 1 discloses a gripping device that grips and conveys a plurality of types of objects having different dimensions. In Patent Document 1, the gripping device has a pair of claws that open and close to grip a target. A target object is hold | gripped by pinching a target object with a pair of nail | claw. In Patent Document 1, in order to sandwich a plurality of types of objects having different dimensions, the opening / closing operation range of a pair of claws is made variable according to the type of the object.

Japanese Patent No. 2645565

However, in order to make the opening / closing operation range of the pair of claws variable according to the type of the object, it is necessary to enlarge the driving device of the gripping device. That is, since it is necessary to open and close the gripping portion from the closed position that matches the small object to the open position that matches the large object, the opening / closing drive amount increases, and the driving device of the gripping device becomes large. .
Therefore, it is desired to be able to grip a plurality of types of objects having different dimensions without increasing the size of the driving device of the gripping device.

In addition, in order to grip multiple types of objects with different dimensions, each type has a gripping nail that matches the dimensions that can hold the object, and these nails can be attached to and detached from the body of the gripping device. Can be considered.
However, in this case, two stages are required when changing the object to be grasped. In the first stage, the claw attached to the main body of the gripping device is removed from the main body, and in the second stage, another claw is attached to the main body.
Therefore, when changing the type of the object to be grasped, it is desired to reduce the necessary steps and shorten the change response time.

  Accordingly, an object of the present invention is to hold a plurality of types of objects having different dimensions without increasing the size of the driving device of the holding device, and to shorten the response time when changing the type of the object to be held. An object of the present invention is to provide a gripping device that can handle the above-mentioned problem.

In order to achieve the above object, according to the present invention, a gripping device that grips and moves a plurality of types of objects having different dimensions,
A gripper that is driven to grip the object;
A holding body that holds the gripper so that the gripper can operate;
An attachment that can be attached to the gripping part,
The gripper can grip a first type of object when no attachment is attached, and can grip a second type of object via the attachment when the attachment is attached. Is provided.

According to a preferred embodiment of the present invention, the gripping portion has a pair of gripping portions that grips an object, the attachment is attachable to the gripping portion, and the gripping portion is attached to the gripping portion. When attached, the second type of object can be clamped via the attachment.
In this case, preferably, the pair of sandwiching portions opens and closes to sandwich or release the object, and the pair of sandwiching portions when the first type of object is sandwiched without the attachment. The closed position is the same as the closed position of the pair of holding portions when the second type of object is held via the attachment.

According to another embodiment of the present invention, the gripping part is driven to move away from each other in a state of being inserted into the inner peripheral surface of the object, and is thereby pressed against the inner peripheral surface. A plurality of pressing parts for gripping an object, wherein the attachment is attachable to the pressing part, and the gripping part receives a second type of object via the attachment when the attachment is attached. It can be gripped.
In this case, preferably, the positions of the plurality of pressing portions when the first type object is gripped without using the attachment are the plurality of pressing parts when the second type object is gripped through the attachment. It is the same as the position of the part.

According to the present invention described above, an attachment that can be attached to the gripping portion is provided, and the gripping portion can grip the first type of object when the attachment is not attached, and when the attachment is attached, A second type of object having a size different from that of the one type can be gripped via the attachment. With this configuration, a plurality of types of objects can be gripped without increasing the size of the drive device for the gripping device as follows. When changing the driving position of the gripping device for each dimension of the target object, it is necessary to drive the gripping unit between the driving position corresponding to the small target object and the driving position corresponding to the large target object. . On the other hand, in this invention, since this required drive amount can be made small (for example, zero) by an attachment, it can prevent that the drive device of a holding | grip apparatus enlarges.
In addition, since the attachment can be attached to the gripping part instead of replacing the gripping part, it is possible to reduce the response time when changing the type of the object to be gripped. For example, when the type of the object to be gripped is changed from the first type to the second type, it is only necessary to attach the attachment, and the gripping unit for gripping the first type of object is set as the main body of the gripping device (holding Removing from the body).

The structural example of the holding | gripping apparatus by embodiment of this invention is shown. It is a top view of the holding part which has not mounted | attached the attachment. It is a top view of the holding part at the time of mounting | wearing with an attachment. It is a top view which shows the specific example of the attachment or detachment means of a holding part and an attachment. It is a perspective view which shows an example of the attachment or detachment means by fitting with a holding part and an attachment. It is sectional drawing of the clamping part and attachment by a virtual plane containing the fitting direction D3. It is a perspective view which shows another example of the attachment / detachment means by fitting with a holding part and an attachment. Although it is a top view of the holding part which is not equipped with an attachment, the case of other embodiments is shown. Although it is a top view of the holding part at the time of mounting | wearing with an attachment, the case of another embodiment is shown.

  A preferred embodiment of the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the common part in each figure, and the overlapping description is abbreviate | omitted.

  FIG. 1 is a configuration diagram of a gripping device 10 according to an embodiment of the present invention. FIG. 1A shows a case where the gripping device 10 grips the first type of object 1. FIG. 1B shows a case where the gripping device 10 grips the second type of object 2. 1A and 1B are the same except that the types of the objects 1 and 2 are different. 2A is a ZZ arrow view of FIG. 1A, and FIG. 3A is a ZZ arrow view of FIG. 1B.

The gripping device 10 is a device that grips and moves a plurality of types of objects 1 and 2 having different dimensions. In the example of FIG. 1, the first type object 1 is larger in size than the second type object 2.
Moreover, in the example of FIG. 1, the objects 1 and 2 are rotating bodies of a rotary machine. In this case, the objects 1 and 2 may be transported to another position by the gripping device 10 from the object 1 or 2 in FIG. In FIG. 1, the objects 1 and 2 are supported by the object support 4 so as to face the vertical direction. That is, the lower parts of the objects 1 and 2 are inserted into the support holes 4 a formed on the upper surface of the object support 4, thereby supporting the objects 1 and 2.

  The gripping device 10 includes a gripping unit 3 that is driven to grip the object 1 or 2, a holding body 5 that holds the gripping unit 3 so that the gripping unit 3 can operate, and an attachment 7 that can be attached to the gripping unit 3. With.

  The grip portion 3 can grip the first type of object 1 when the attachment 7 is not attached, and can grasp the second type of object 2 via the attachment 7 when the attachment 7 is attached. Is possible.

  In the present embodiment, the grip portion 3 includes a pair of sandwiching portions 3 a and 3 b that grip the target object 1 or 2. The attachment 7 can be attached to and detached from the holding portions 3a and 3b. The pair of sandwiching portions 3a and 3b can directly grip the first type of object 1 when the attachment 7 is not attached. On the other hand, the pair of sandwiching portions 3 a and 3 b can sandwich the second type object 2 via the attachment 7 when the attachment 7 is attached.

  The pair of sandwiching portions 3a and 3b opens and closes to sandwich the object 1 or 2 and release the sandwiched object. In order to perform this opening and closing operation, for example, the pair of sandwiching portions 3 a and 3 b can reciprocate along a guide rail (not shown) provided on the holding body 5. The pair of sandwiching portions 3a and 3b are supported by the holding body 5 so as to be reciprocally movable.

The pair of sandwiching portions 3a and 3b can sandwich a plurality of types of objects 1 and 2 at the same closed position (hereinafter referred to as a closed position) in the above-described opening and closing operation regardless of the types of the objects 1 and 2. . That is, the closed position of the pair of holding portions 3a and 3b when holding the first type object 1 without the attachment 7 (that is, the position P1 in FIG. 2A) is via the attachment 7. This is the same as the closed position of the pair of sandwiching portions 3a and 3b when the second type object 2 is sandwiched (that is, the position P1 in FIG. 3A).
Therefore, it is not necessary to change the closed position of the clamping portions 3a and 3b for each type of the objects 1 and 2. As a result, the limit positions of the clamping portions 3a and 3b in the closing direction of the opening / closing direction D1 can be made the same between the types of the objects 1 and 2.

The pair of sandwiching portions 3a and 3b are configured to sandwich the target object with respect to the target object 1 or 2 placed at the take-out position at the same open position (hereinafter referred to as an open position) in the above-described opening / closing operation. Can approach the position. That is, a pair when the object 1 is not located between the pair of sandwiching parts 3a and 3b and the pair of sandwiching parts 3a and 3b is moved to a position where the object 1 is directly sandwiched. In the open position of the sandwiching portions 3a and 3b (that is, the position P2 in FIG. 2B), the object 2 is positioned between the pair of attachments 7 attached to the pair of sandwiching portions 3a and 3b. This is the same as the open position of the pair of holding portions 3a and 3b (that is, the position P2 in FIG. 3B) when the pair of attachments 7 is moved to the position for holding the object 2 .
Therefore, it is not necessary to change the open positions of the sandwiching portions 3a and 3b for each type of the objects 1 and 2. As a result, the limit positions of the clamping portions 3a and 3b in the opening direction of the opening and closing direction D1 can be made the same between the types of the objects 1 and 2.

The pair of sandwiching portions 3a, 3b may be driven to open and close by an opening / closing actuator (not shown). The opening / closing actuator may be provided in the holding body 5.
The opening / closing actuator may be, for example, a pneumatic or hydraulic cylinder device. In this case, in the cylinder device, the cylinder may be fixed to one of the pair of holding portions 3a and 3b, and the tip portion of the piston that reciprocates inside the cylinder may be fixed to the other of the pair of holding portions 3a and 3b. . With this configuration, the pair of clamping portions 3a and 3b are opened and closed by the reciprocating motion of the piston.
The opening / closing actuator may be an electric servo motor. In this case, a pinion that is rotationally driven by a servo motor and a pair of racks that are engaged with the pinion with the pinion interposed therebetween are provided, and one of the pair of racks is fixed to one holding portion 3a. The other of the pair of racks may be fixed to the other clamping portion 3b. With this configuration, the pair of clamping portions 3a and 3b are opened and closed by the rotation of the servo motor.

Each clamping part 3a, 3b preferably has three opposing surfaces 11, 12, 13 as shown in FIG. The pair of sandwiching portions 3 a and 3 b sandwich the object 1 with the three pairs of facing surfaces 11, 12 and 13 facing each other. That is, when the object 1 is sandwiched, the following positional relationship is established. The opposing surface 11 of one clamping part 3a faces the opposing surface 11 of the other clamping part 3b in the first direction. The opposing surface 12 of one clamping part 3a faces the opposing surface 12 of the other clamping part 3b in the second direction. The opposing surface 13 of one clamping part 3a faces the opposing surface 13 of the other clamping part 3b in the third direction. Here, the first direction is the direction of the opening / closing operation (opening / closing direction D1), and the second and third directions intersect with each other and are inclined from the first direction (in this example, horizontal). Direction).
With this configuration, the holding portions 3a and 3b can hold the object 1 stably.

The attachment 7 preferably has three opposing surfaces 15, 16, 17 as shown in FIG. The pair of sandwiching portions 3 a and 3 b sandwich the object 2 via the attachment 7 with the three pairs of facing surfaces 15, 16 and 17 facing each other. That is, when the object 2 is sandwiched, the following positional relationship is established. The facing surface 15 of one attachment 7 faces the facing surface 15 of the other attachment 7 in the first direction. The facing surface 16 of one attachment 7 faces the facing surface 16 of the other attachment 7 in the second direction. The facing surface 17 of one attachment 7 faces the facing surface 17 of the other attachment 7 in the third direction. Here, the first direction is the direction of the opening / closing operation (opening / closing direction D1), and the second and third directions are directions that intersect with each other and are inclined from the first direction.
With this configuration, the sandwiching portions 3 a and 3 b can stably sandwich the object 1 via the attachment 7.

  The holding body 5 is moved in the three-dimensional space in a state where the holding portions 3a and 3b are held. That is, the holding body 5 is moved to a position where the object 1 or 2 placed at the take-out position can be held by the holding parts 3a and 3b, and the holding parts 3a and 3b hold the object. The object is moved so as to be conveyed to another position. The clamping parts 3a and 3b can place the target object at the different position by releasing the target object by the opening operation.

  Such movement of the holding body 5 may be executed by, for example, the gripping device 10 as an articulated robot shown in FIG. In this case, the gripping apparatus 10 includes first to fourth arms 19a to 19d and first to third joints 21a to 21c in the example of FIG. The holding body 5 is coupled to the first arm 19a. The first arm 19a is connected to the second arm 19b via the first joint 21a, and around the rotation axis C1 (axis perpendicular to the paper surface of FIG. 1) of the first joint 21a. It can rotate with respect to the second arm 19b. The second arm 19b is connected to the third arm 19c via the second joint 21b, and has a third axis around the rotation axis C2 (axis perpendicular to the paper surface of FIG. 1) of the second joint 21b. The arm 19c can be rotated. The third arm 19c is connected to the fourth arm 19d via the third joint 21c, and is fourth around the rotation axis C3 (axis perpendicular to the paper surface of FIG. 1) of the third joint 21c. The arm 19d can be rotated. The fourth arm 19d is supported by the installation base 9 so as to be rotatable around a rotation axis C4 that is the central axis of the fourth arm 19d.

  With this configuration, the first to fourth arms 19a, 19b, 19c, and 19d are driven to rotate around the corresponding rotation axes C1 to C4 by a rotation actuator (not shown). By controlling these rotational driving by a control device (not shown), the holding body 5 can be moved as described above.

  Next, attachment / detachment means A to C between the grip part 3 (the clamping parts 3a and 3b) and the attachment 7 will be described.

(Detaching means A)
Attachment / detachment of the attachment 7 with respect to the grip part 3 (the pair of sandwiching parts 3a, 3b) may be performed by a magnet. A magnet is provided in both the grip part 3 and the attachment 7, and the grip part 3 and the attachment 7 can be detachably mounted by the magnet.
FIG. 4A shows an example in which the attaching / detaching means A is adopted in FIG. In the example of FIG. 4 (A), the magnet 23 may be provided on the side surface 25 of each clamping part 3a, 3b facing the closing direction side of the above-described opening / closing direction D1. The side surface 25 has the above-described opposing surfaces 11, 12, and 13. Moreover, the magnet 24 may be provided in the side surface 27 of the attachment 7 which faces the opening direction side of the above-mentioned opening-and-closing direction D1, as shown to FIG. 4 (A). Due to the attractive force of these magnets 23 and 24, the attachment 7 can be detachably coupled to the holding portions 3a and 3b.
In this case, the side surfaces 27 of the pair of attachments 7 may be attached to the side surfaces 25 of the corresponding sandwiching portions 3a and 3b as shown in FIG.

(Detaching means B)
The attachment 7 may be attached to and detached from the grip portion 3 (the pair of sandwiching portions 3a and 3b) with screws or bolts.
FIG. 4B shows an example in which the attaching / detaching means B is adopted in FIG. In the example of FIG. 4B, the attachment 7 can be detachably coupled to the holding portions 3a and 3b by the bolts 29.
In this case, the side surfaces 27 of the pair of attachments 7 may be attached to the side surfaces 25 of the corresponding sandwiching portions 3a and 3b as shown in FIG.

(Detaching means C)
Attachment / detachment of the attachment 7 with respect to the grip part 3 (the pair of sandwiching parts 3a, 3b) may be performed by fitting them together. An outline of the configuration in this case will be briefly described first, and then a specific configuration example will be described with reference to FIGS.

[Outline of configuration using fitting]
Here, reference numerals are given to the respective constituent elements to clarify the correspondence with the specific configuration examples of FIGS.
Each clamping part 3 a, 3 b is provided with a fitting part 31, and each attachment 7 is provided with a fitted part 33. If the fitting part 31 and the to-be-fitted part 33 are fitted in a predetermined fitting direction, the fitting between the fitting part 31 and the to-be-fitted part 33 is not released in the other direction. Yes.
Further, in order to maintain the coupling between the fitting portion 31 and the fitted portion 33, the fitted portion 33 has a protruding portion 35 that can be advanced and retracted in a protruding direction that intersects (for example, orthogonally intersects) the fitting direction. The fitting portion 31 is provided with a recess 37 in which the protruding portion 35 is accommodated during fitting. The protruding portion 35 is urged by the elastic body 39 in the protruding direction toward the outside of the fitted portion 33 by being coupled to an elastic body 39 (for example, a coil spring) provided in the fitted portion 33. Thus, when the fitting is completed, the protruding portion 35 is elastically pressed into the concave portion 37 and fits in the concave portion 37. The protruding portion 35 is accommodated in the accommodation hole 41 of the fitted portion 33 so as to be able to advance and retreat, and is supported by the inner wall of the accommodation hole 41.

  Specific examples of such a configuration include those shown in FIGS. 5 and 7, for example. First, the case of FIG. 5 will be described, and then the case of FIG. 7 will be described. In FIG. 5, D1 shows the above-mentioned opening and closing direction, D2 shows a vertical direction, and D3 shows a fitting direction. In FIG. 7, D1 indicates the above-described opening / closing direction, but the vertical direction and the fitting direction are the same, and therefore, these are indicated by D3.

[Configuration example of FIG. 5]
In FIG. 5, only the one sandwiching portion 3 a is shown for simplicity, but the same applies to the other sandwiching portion 3 b. In the case of FIG. 5, the fitting part 31 is comprised by the fitting groove | channel formed in the lower part of the clamping part 3a so that it might extend in the said fitting direction D3, and might penetrate the said fitting direction D3. The fitted portion 33 is a portion protruding upward from the upper surface of the attachment 7 and extends in the fitting direction D3. In the example of FIG. 5, since the fitting direction D3 is a horizontal direction, the fitting part 31 is a pair so that the fitting part 31 and the fitted part 33 do not come off in the vertical direction D2. It has a facing portion 43. The pair of facing portions 43 extend so as to face the horizontal direction perpendicular to the fitting direction D3 so as to partition a part of the fitting groove. A pair of extending portions 45 that are locked to the facing portions 43 in the vertical direction D <b> 2 are provided in the fitted portion 33. The pair of extension portions 45 extend in opposite directions in the horizontal direction orthogonal to the fitting direction D3.

  In the case of FIG. 5, a plurality of protrusions 35 are provided on the upper surface of the fitted part 33 so as to be able to advance and retract in the vertical direction D2. On the other hand, the recessed part 37 (refer FIG. 6) is provided with two or more by the lower surface (bottom surface of a fitting groove) of the fitting part 31. FIG.

  With the configuration shown in FIG. 5, each attachment 7 can be attached to each holding portion 3 a, 3 b as follows. When attaching the attachment 7 to the clamping part 3 a, first, the attachment 7 is placed on the support base 47. The support base 47 is provided with a locking portion 49 that contacts the attachment 7 so that the attachment 7 does not move in the fitting direction D3. Next, the holding part 5a is moved by the movement of the holding body 5 described above, so that the fitting part 31 and the fitted part 33 are aligned in the fitting direction D3 as shown in FIG. . In this state, the holding part 5a is moved in the fitting direction D3 to the attachment 7 side by the movement of the holding body 5 described above, thereby fitting the fitting part 31 (fitting groove) and the fitted part 33 to each other. Combine. During the fitting as described above, as shown in FIG. 6A, the projecting portion 35 contacts the bottom surface of the fitting groove in the sandwiching portion 3a and elastically retracts inward. When the fitting is completed as shown in FIG. 6B and FIG. Thereby, the fitting state of the fitting part 31 (fitting groove) and the to-be-fitted part 33 is stabilized. Further, during the fitting, the attachment 7 is locked in the fitting direction D3 by the locking portion 49, and thus does not move in this direction.

  In addition, each attachment 7 can be attached to the clamping unit 3b with the same configuration and procedure for the other clamping unit 3b. In this case, the attachments 7 corresponding to the pair of sandwiching portions 3a and 3b may be sequentially attached, or the attachment 7 may be simultaneously attached to the pair of sandwiching portions 3a and 3b. In the case of simultaneous mounting, two support bases 47 are arranged in parallel, and two attachments 7 are respectively placed on these support bases 47 in the same manner as described above, and the holding body 5 is fitted only once as described above. By moving in the direction D3 (horizontal direction), the two attachments 7 are simultaneously attached to the pair of sandwiching portions 3a and 3b.

  In addition, with the configuration of FIG. 5, the attachment 7 can be removed from the holding portion 3 a as follows. First, the clamping part 3a is positioned in the state of FIG. In this state, the fitting between the fitting part 31 and the fitted part 33 is released by moving the clamping part 3a in the fitting direction D3. At this time, the attachment 7 is supported by the engaging portion 49 in the fitting direction D3, so that the attachment 7 does not move in this direction. Further, when the fitting is released, the projecting portion 35 is pushed by the bottom surface of the fitting groove in the clamping portion 3a and elastically retracts inward by the movement of the clamping portion 3a.

  Note that the attachment 7 can be removed from the clamping unit 3b with the same configuration and procedure for the other clamping unit 3b. In this case, the corresponding attachment 7 may be sequentially removed from the pair of sandwiching portions 3a and 3b, or the attachment 7 may be simultaneously removed from the pair of sandwiching portions 3a and 3b. When removing at the same time, as described above (in the state shown in FIG. 5B), the two attachments 7 are placed on the support base 47 so that they come into contact with the engaging portions 49 in the fitting direction D3. By placing the attachments 7 in parallel and moving the holding body 5 in the fitting direction D3 only once as described above, the two attachments 7 are simultaneously removed from the pair of sandwiching portions 3a and 3b.

[Configuration example of FIG. 7]
In FIG. 7, only the one clamping part 3 a is shown for simplicity, but the same is true for the other clamping part 3 b. In the case of FIG. 7, the fitting portion 31 is configured by a fitting hole that opens to the lower surface of the sandwiching portion 3 a and extends into the fitting direction D <b> 3 (the vertical direction in this example). The fitted portion 33 protrudes upward from the upper surface of the attachment 7.

  In the case of FIG. 7, the protruding portion 35 can be moved back and forth in a direction (for example, the horizontal direction) intersecting the fitting direction D3 (vertical direction), like the protruding portion 35 of FIG. 5. 33 is provided on the outer peripheral surface. A plurality of protruding portions 35 are preferably provided on the outer peripheral surface of the fitted portion 33 at intervals in the circumferential direction. On the other hand, the recess 37 is provided on the inner peripheral surface of the fitting hole. A plurality of the recesses 37 are preferably provided on the inner peripheral surface of the fitting hole at intervals in the circumferential direction.

  With the configuration of FIG. 7, each attachment 7 can be attached to the clamping portion 3 a as follows. When attaching the attachment 7 to the clamping part 3 a, first, the attachment 7 is placed on the support base 47. Next, by moving the holding part 3a by the movement of the holding body 5 described above, the fitting part 31 and the fitted part 33 are aligned in the fitting direction D3 (vertical direction) as shown in FIG. Let In this state, by moving the holding body 5 described above, the holding portion 3a is moved toward the attachment 7 in the fitting direction D3 (vertically downward), so that the fitting portion 31 (fitting hole) and the fitted portion are moved. 33 are fitted to each other. At the time of this fitting, the protruding portion 35 comes into contact with the inner peripheral surface of the fitting hole and elastically retracts inward, but when the fitting is completed as shown in FIG. It will fit. Thereby, fitting with the fitting part 31 (fitting hole) and the to-be-fitted part 33 is maintained.

  Each attachment 7 can be attached to the clamping part 3b with the same configuration and procedure for the other clamping part 3b. In this case, the attachments 7 corresponding to the pair of sandwiching portions 3a and 3b may be sequentially attached, or the attachment 7 may be simultaneously attached to the pair of sandwiching portions 3a and 3b. In the case of simultaneous mounting, two support bases 47 are arranged in parallel, and two attachments 7 are respectively placed on these support bases 47 in the same manner as described above, and the holding body 5 is fitted only once as described above. Two attachments 7 may be attached to the pair of sandwiching portions 3a and 3b at the same time by moving to D3 (vertically below).

  Further, with the configuration of FIG. 7, the attachment 7 can be detached from the holding portion 3 a as follows. First, the attachment 7 is fixed so as not to move in the vertical direction by an appropriate means. For example, the attachment 7 is fixed so as not to move in the vertical direction by sandwiching the attachment 7 from both sides in the horizontal direction with an appropriate means. In this state, the fitting between the fitting part 31 and the fitted part 33 is released by moving the clamping part 3a vertically upward. At this time, the protrusion part 35 is pushed by the inner peripheral surface of the fitting hole by the movement of the clamping part 3a and elastically retracts inward.

  In addition, each attachment 7 can be removed from the clamping part 3b with the same structure and procedure also about the other clamping part 3b. In this case, the corresponding attachment 7 may be sequentially removed from the pair of sandwiching portions 3a and 3b, or the attachment 7 may be simultaneously removed from the pair of sandwiching portions 3a and 3b. In the case of simultaneous removal, as described above, the two attachments 7 are fixed so as not to move in the vertical direction as described above, and the holding body 5 is fitted only once in the fitting direction D3 (vertically upward) as described above. The two attachments 7 may be removed simultaneously from the pair of sandwiching portions 3a and 3b.

  According to the embodiment of the present invention described above, the following effects (1) and (2) can be obtained.

(1) As described below, a plurality of types of objects 1 and 2 can be gripped without increasing the size of the gripping device drive device (open / close actuator).
An attachment 7 that can be attached to the grip portion 3 is provided. The grip portion 3 can grip the first type object 1 when the attachment 7 is not attached, and the second portion when the attachment 7 is attached. The kind of object 2 can be gripped via the attachment 7. With this configuration, it is not necessary to greatly change the driving amount of the gripping device 10. For example, when gripping either the first type or the second type of object, the grip 3 may be driven to open and close between the above-described closed position P1 and open position P2. Therefore, a plurality of types of objects 1 and 2 can be gripped without increasing the size of the drive device (opening / closing actuator) of the gripping device 10.
On the contrary, conventionally, when changing the open position and the closed position for each dimension of the object, the gripping is performed between the closed position according to the small object and the open position according to the large object. Since it is necessary to open and close the part, the opening / closing drive amount becomes large, and the drive device of the gripping device becomes large.

(2) Since the attachment 7 can be attached to the grip 3 instead of exchanging the grip 3, it is possible to shorten the response time when changing the type of the objects 1 and 2 to be gripped. For example, when the type of the object to be gripped is changed from the first type to the second type, it is only necessary to attach the attachment 7, and the first-type gripping unit 3 is the main body (holding body 5) of the gripping device 10. It becomes unnecessary to remove it from.

  The present invention is not limited to the above-described embodiment, and various changes can be made without departing from the scope of the present invention. For example, any one of the following modification examples 1 to 3 may be selected and used, or a plurality may be used in combination.

(Modification 1)
In the attaching / detaching means C of FIG. 5, the fitting portion 31 is configured as a fitting groove, and the fitted portion 33 is configured as a portion that fits into the fitting groove, but the fitting portion 31 is fitted into the fitting groove. The part to be fitted may be configured as a fitting groove. Similarly, in the attaching / detaching means C of FIG. 7, the fitting portion 31 is configured as a fitting hole, and the fitted portion is configured as a portion that fits into the fitting hole. You may comprise as a part to fit and the to-be-fitted part 33 may be comprised as a fitting hole.

(Modification 2)
In the above-described embodiment, the first type object 1 that is directly held by the holding parts 3a and 3b is larger than the second type object 2 that is held by the holding parts 3a and 3b via the attachment 7, but the reverse It may be. That is, as shown in FIG. 8A, the holding portions 3a and 3b directly hold the object having the smaller size (the first type of object 1 in FIG. 8), As described above, the object having the larger dimension (the second type object 2 in FIG. 9) may be sandwiched between the sandwiching portions 3 a and 3 b via the attachment 7. FIG. 8 (A) corresponds to the ZZ arrow view of FIG. 1 (B), but shows the case of this modified example 2, and FIG. 9 (A) is the ZZ arrow of FIG. 1 (A). Although it corresponds to the view, the case of this modification 2 is shown. FIG. 8B shows, for example, a case where the pair of sandwiching portions 3a, 3b is driven to the open position from the state of FIG. 8A. FIG. 9B shows, for example, FIG. The case where a pair of clamping part 3a, 3b is driven to an open position from a state is shown.
In the second modification, the same configuration as that of the above-described embodiment may be adopted for other points. For example, in the second modification, the holding portions 3a and 3b may be detachably attached to the attachment 7 by the above-described attaching / detaching means A, B, or C.

(Modification 3)
The gripping portion of the present invention is inserted into the inner peripheral surface of the object and is driven to move away from each other, thereby being pressed against the inner peripheral surface. It may be a pressing part. In this case, the gripper can grip the second type of object through the attachment when the attachment is attached. In this case, the inner peripheral surface of the first type object 1 and the inner peripheral surface of the second type object 2 have different dimensions.
In the third modification, the same configuration as that of the above-described embodiment may be adopted for other points. For example, the positions of the plurality of pressing portions when holding the first type of object without using the attachment are the same as the positions of the plurality of pressing portions when holding the second type of object through the attachment. It is.

1 first type object, 2 second type object, 3 gripping part,
3a, 3b clamping part, 7 attachment, 10 gripping device

Claims (5)

A gripping device for gripping and moving a plurality of types of objects having different dimensions,
A gripper that is driven to grip the object;
A holding body that holds the gripper so that the gripper can operate;
An attachment that can be attached to the gripping part,
The gripper can grip the first type of object when the attachment is not attached, and can grip the second type of object via the attachment when the attachment is attached. A gripping device characterized by the above. The gripping part has a pair of gripping parts for gripping a target object,
The attachment can be attached to the clamping part,
The gripping apparatus according to claim 1, wherein the gripping unit is capable of sandwiching a second type of object via the attachment when the attachment is attached. The pair of clamping parts open and close to clamp or release the object,
The closed position of the pair of clamping parts when the first type of object is clamped without using the attachment is the closed position of the pair of clamping parts when the second type of object is clamped through the attachment. The gripping device according to claim 2, wherein the gripping device has the same position. The gripping portion is inserted into the inner peripheral surface of the object, and is driven to move away from each other, thereby being pressed against the inner peripheral surface to hold the target object. And
The attachment can be attached to the pressing portion,
The gripping apparatus according to claim 1, wherein the gripper is capable of gripping a second type of object via the attachment when the attachment is attached.   The positions of the plurality of pressing portions when gripping the first type of object without using the attachment are the same as the positions of the plurality of pressing portions when gripping the second type of object through the attachment. The gripping device according to claim 4, wherein the gripping device is provided.