JP2012206215A - Gripper - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a gripper widened in a grip range and surely gripping an object.SOLUTION: The gripper journals: an axially reciprocating shaft member; a first transmission member turnable in a direction roughly parallel with the axial direction; a second transmission member turnable roughly in the same direction as the first transmission member; a third transmission member journaled to the other end of the first transmission member; a first arm journaled to the other end of the third transmission member; a second arm part journaled to the other end of the second transmission member; a position near to the center from one end of the first arm ; and a position near to the center from one end of the second arm, so that these members and positions may be journaled in almost the same directions with the turnable direction of the first transmission member so as to be turnable. By distancing a journaling part of the first arm and second arm from a journaling part of the shaft member and first transmission member, the other end of the first arm approaches the other end of the second arm, and the object is gripped while approaching the other end of the first arm and the other end of the second arm.

Description

  The present invention relates to a gripper, and more particularly to a gripper that grips (holds) an object with two arms.

  2. Description of the Related Art Conventionally, a gripper that grips an object with two arms is known (for example, Patent Document 1).

  Patent Document 1 discloses a magic hand that is a kind of gripper and has a configuration in which a pair of flexible gripping members grips an object with a front material.

Japanese Patent Laid-Open No. 2002-154075

  By the way, in the conventional gripper, in a configuration in which two arms contact or approach each other at a predetermined position determined in advance, an object is gripped when the arms approach each other. That is, in the conventional gripper, the object can be gripped only at a predetermined angle with respect to the axis supporting the two arms.

  The same applies to the magic hand described in Patent Document 1, and although the object can be softly gripped by the flexibility of the front material, a predetermined predetermined with respect to the shaft supporting the two arms. The object can be gripped only by an angle, and the angle of the shaft must be changed to grip the object. This limits the range in which the object can be gripped.

  The present invention has been made in view of the above points, and an object of the present invention is to provide a gripper capable of expanding the range in which an object can be gripped and capable of gripping the object reliably.

  In order to solve the above-mentioned problems, a gripper according to the present invention includes a shaft member that can reciprocate at least in the axial direction, and a substantially central portion of the shaft member so that the gripper can rotate in a direction substantially parallel to the axial direction. One end of the first transmission member is pivotally supported on one end of the first transmission member so that the first transmission member is pivotally supported at one end and the first transmission member is pivotable in substantially the same direction as the first transmission member. And a second transmission member that is pivotally supported by the other end of the first transmission member so that the second transmission member can be rotated in substantially the same direction as the rotation direction of the first transmission member. The first arm whose one end is pivotally supported by the other end of the third transmission member so that the third transmission member and the first transmission member can be rotated in substantially the same direction as the rotation direction of the first transmission member. And one end of the first transmission member so that the first transmission member can be rotated in substantially the same direction as the rotation direction of the first transmission member. A second arm portion pivotally supported by the other end of the reach member, a location from the center of one end of the first arm portion, and a location from the center of one end of the second arm portion, The first transmission member is pivotally supported so as to be pivotable in substantially the same direction as the pivotable direction, the pivot support portion between the first arm portion and the second arm portion, and the shaft member. By moving away the pivotal support portion with the first transmission member, the other end of the first arm portion and the other end of the second arm portion approach each other, and the other end of the first arm portion The object is grasped by the other end of the second arm portion.

  The present invention is further characterized in that it further includes a frame that fixes at least the pivot support portions of the first arm portion and the second arm portion.

  Further, the present invention is characterized in that the frame includes a guide groove in which a shaft support portion between the shaft member and the first transmission member is fitted and the shaft support portion is slidable.

  ADVANTAGE OF THE INVENTION According to this invention, the range which can hold | grip a target object can be expanded, and the gripper which can hold | grip a target object reliably can be provided.

It is a perspective view which shows one Embodiment of the gripper by this invention. It is a front view of the gripper shown in FIG. It is a side view of the gripper shown in FIG. It is a perspective view which shows the state which closed the gripper shown in FIG. It is a front view of the gripper shown in FIG. It is a side view of the gripper shown in FIG. It is a perspective view which shows the state which closed the gripper shown in FIG. 1 in the direction different from FIG. It is a front view of the gripper shown in FIG. It is a side view of the gripper shown in FIG.

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

  FIG. 1 is a perspective view showing an embodiment of a gripper according to the present invention.

  FIG. 2 is a front view of the gripper shown in FIG.

  FIG. 3 is a side view of the gripper shown in FIG.

  The gripper 10 according to the present embodiment is assembled by separating two flat plates apart from each other, a frame 11 that accommodates other members between the two flat plates, a rod-shaped shaft member 17, and the movement of the shaft member 17. It has plate-shaped transmission members 14, 15, 16 for transmitting, and arm portions 12, 13 for holding an object.

  The shaft member 17 can reciprocate at least in the axial direction. For example, a linear actuator (not shown) may be provided at the upper end to perform linear motion in the axial direction. Note that the moving direction of the shaft member 17 is not limited to the axial direction, and various relative to the frame 11 (that is, a later-described shaft support portion 18 supported by the frame 11) in cooperation with other members. It may be movable in a positional relationship.

  Although the guide groove 11a which is a through hole is provided in the frame 11, the guide groove 11a may not be provided. When the guide groove 11a is provided, a later-described shaft support portion 23 may be fitted into the guide groove 11a so as to be rotatable, and the shaft support portion 23 may be slidable along the guide groove 11a. In this way, the movement of the transmission member 16 can be stabilized.

  The transmission member 16 has a substantially central portion at the shaft support 23 so that the transmission member 16 can rotate in a direction substantially parallel to the axial direction of the shaft member 17 (here, a direction substantially parallel to the plate surface of the frame 11). It is pivotally supported at the lower end of the.

  In addition, the upper end of the transmission member 14 is pivotally supported by the left end of the transmission member 16 so that the transmission member 14 can rotate in substantially the same direction as the direction in which the transmission member 16 can rotate.

  Further, the upper end of the transmission member 15 is pivotally supported by the right end of the transmission member 16 so that the transmission member 15 can rotate in substantially the same direction as the direction in which the transmission member 16 can rotate.

  The arm portions 12 and 13 are curved in a substantially arc shape, and are arranged in a direction in which a substantially circular shape is formed by both. In addition, grip portions 12 a and 13 a that are in contact with each other and grip an object are provided at the lower ends of the arm portions 12 and 13. The grip portions 12a and 13a may be made less slippery by a shape such as a groove or a material such as rubber, and the object may be gripped without slipping.

  The upper end of the arm portion 12 is pivotally supported by the lower end of the transmission member 15 so that the arm portion 12 can rotate in the same direction as the rotation direction of the transmission member 16, and the arm portion 13 can rotate the transmission member 16. The upper end of the transmission member 14 is pivotally supported by the lower end of the transmission member 14 so as to be rotatable in the same direction as the direction.

  Further, the shaft is arranged so that the position closer to the center than the upper end of the arm part 12 and the position closer to the center than the upper end of the arm part 13 can be rotated in substantially the same direction as the direction in which the transmission member 16 can rotate. The support 18 is pivotally supported. The shaft support 18 does not need to be fixed to other places, but when the frame 11 is provided, the shaft support 18 may be fixed to the frame 11. By doing in this way, the position of the axial support part 18 can be stabilized. In this embodiment, the shaft support 18 is fixed below the guide groove 18 of the frame 11.

  FIG. 4 is a perspective view showing a state where the gripper shown in FIG. 1 is closed.

  FIG. 5 is a front view of the gripper shown in FIG.

  FIG. 6 is a side view of the gripper shown in FIG.

  When the frame 11 is fixed and the shaft member 17 is pulled up from the state shown in FIGS. 1, 2, and 3 (the shaft support 18 and the shaft support 23 are moved away), the transmission members 16, 14, and 15 are used. The shaft support portions 19 and 20 are pulled up, the arm portion 12 rotates counterclockwise around the shaft support portion 18, the arm portion 13 rotates clockwise around the shaft support portion 18, and the grip portion 12a and the grip portion 13a. Approaches and grips the object.

  Next, the operation in the case where the object is at a position deviated from the gripping position shown in FIGS. 4, 5, and 6 will be described.

  7 is a perspective view showing a state where the gripper shown in FIG. 1 is closed in a direction different from that in FIG.

  FIG. 8 is a front view of the gripper shown in FIG.

  FIG. 9 is a side view of the gripper shown in FIG.

  In the operation of fixing the frame 11 and pulling up the shaft member 17, when one of the pair of arm portions 12 and 13 comes into contact with the object first, the contacted arm portion remains in the contact position. When the shaft member 17 is further lifted from this state, the arm portion that is not in contact continues to rotate around the shaft support portion 18 until it contacts the object.

  In the example shown in FIGS. 7, 8, and 9, the grip portion 13 a of the arm portion 13 is in contact with the object first and stays at the contact position. The arm portion 13 stops rotating around the shaft support portion 18 by this contact, but the other arm portion 12a can rotate around the shaft support portion 18, and when the shaft member 17 is further pulled up, The substantially horizontal transmission member 16 is raised to the right, the shaft support portion 20 is pulled up, and the arm portion 12a rotates counterclockwise about the shaft support portion 18 until it abuts against the object. Hold the object securely.

  Although the present invention has been described above, the present invention is not limited to this description, and various modifications and combinations can be made without departing from the spirit of the present invention. Various combinations of configurations are also included in the present invention.

DESCRIPTION OF SYMBOLS 10 Gripper 11 Frame 11a Guide groove 12, 13 Arm part 12a, 13a Grip part 14, 15, 16 Transmission member 17 Shaft member 18, 19, 20, 21, 22, 23 Shaft support part

Claims (3)

A shaft member capable of reciprocating at least in the axial direction;
A first transmission member pivotally supported at one end of the shaft member so as to be rotatable in a direction substantially parallel to the axial direction;
A second transmission member pivotally supported at one end of the first transmission member so that the first transmission member can rotate in substantially the same direction as the first transmission member;
A third transmission member whose one end is pivotally supported by the other end of the first transmission member so that the first transmission member can be rotated in substantially the same direction as the rotation direction of the first transmission member;
A first arm portion pivotally supported at the other end of the third transmission member so that the first transmission member can rotate in substantially the same direction as the rotation direction of the first transmission member;
A second arm portion pivotally supported at the other end of the second transmission member so that the first transmission member can pivot in substantially the same direction as the pivotable direction of the first transmission member;
A position closer to the center than one end of the first arm and a position closer to the center than one end of the second arm are rotated in substantially the same direction as the direction in which the first transmission member can rotate. Pivot so that it can move,
The other end of the first arm portion is moved away from the shaft support portion between the first arm portion and the second arm portion and the shaft support portion between the shaft member and the first transmission member. And the other end of the second arm portion approach each other, and the object is gripped by the other end of the first arm portion and the other end of the second arm portion.   2. The gripper according to claim 1, further comprising a frame that fixes at least a shaft support portion between the first arm portion and the second arm portion.   The gripper according to claim 2, wherein the frame has a guide groove in which a shaft support portion between the shaft member and the first transmission member is fitted and the shaft support portion is slidable.

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