JP2014124741A5 - End effector and robot - Google Patents

Claims (11)

An end effector provided at the tip of the robot arm,
A plurality of fingers for gripping the workpiece;
A support for supporting the fingers,
The finger includes a belt in which a part of a surface of a flexible belt-shaped body is in contact with the workpiece, and a drive mechanism that moves the contact surface along a longitudinal direction of the belt. End effector.   The plurality of adjacent fingers have the same moving direction along the longitudinal direction of the belt of the contact surface, or different moving directions of the contact surface along the longitudinal direction of the belt. The end effector according to claim 1, wherein it is possible to set in advance either one of them. The belt has a loop shape that bends between a first roller and a second roller;
The drive mechanism includes the first roller disposed on the inner side of the belt, the second roller disposed on the inner side of the belt and spaced apart in the direction of extending the belt, the first roller, and the first roller. 2. A driving source that applies a rotational force to at least one of the two rollers, and the belt rotates in the same direction as the one roller when the one roller rotates. Or the end effector of 2.   The drive mechanism includes a first roller coupled to one end of the belt, a second roller coupled to the other end, and at least one of the first roller and the second roller. The end effector according to claim 1, further comprising: a drive source that applies a rotational force, wherein the belt is wound up by the one roller when the one roller rotates.   5. The end effector according to claim 3, wherein the drive source includes a drive roller that contacts the one roller and transmits a rotational force. 6. The drive source can apply rotational forces in opposite directions to both the first roller and the second roller,
The end effector according to any one of claims 3 to 5, wherein the contact surface bends when the first roller and the second roller rotate in directions opposite to each other. The robot arm is electrically connected to a power source that supplies power,
The end effector according to any one of claims 3 to 6, wherein the drive source includes a motor that is electrically connected to the power supply via the robot arm in the mounted state.   The end effector according to any one of claims 1 to 7, wherein the support body includes a rotation support portion that rotates the fingers to support the posture so as to be changeable with respect to the support body.   The end effector according to claim 8, wherein the fingers can be moved toward and away from each other by rotating at the rotation support portion.   The end effector according to claim 1, wherein each of the fingers extends in a direction protruding from the support.   Arm,
  An end effector provided at the tip of the arm,
  The end effector includes a plurality of fingers that grip a workpiece, and a support that supports the fingers, and the fingers have a belt that a part of a surface of a flexible belt-shaped body abuts on the workpiece; And a drive mechanism for moving the contact surface along the longitudinal direction of the belt.