JP2014168835A - Robot hand, robot and holding method for holding held object by robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot hand which can stably hold a held object even if a space between neighbouring held objects is narrow.SOLUTION: A robot hand for holding a held object 2 comprises: a first holding part 10 and a second holding part 11 for holding the held object 2; and a position change part 9 which changes relative positions of the first holding part 10 and the second holding part 11. The first holding part 10 comprises: a first stem 12 moved by the position change part 9; a first rod 14 which is provided to the first stem 12, is rotatable around a rotary shaft 14a and has a bent part; a second rod 15 which is rotatable around a rotary shaft 15a and has a bent part; a first tip 20 which supported to the first rod 14 and the second rod 15; and a first energization part 16 and a second energization part 17 for energizing the first rod 14 and the second rod 15. The rotary shaft 14a crosses the first stem 12 and the first tip 20, and the first energization part 16 and the second energization part 17 energize the first rod 14 and the second rod 15 so that both the rods follow on a same or a substantially same plane.

Description

  The present invention relates to a robot hand, a robot, and a holding method for holding an object to be clamped by the robot.

  Robots that hold objects to be clamped are used in operations such as assembly work and classification work. There are a wide variety of objects to be held by the robot. A robot hand capable of holding objects of various shapes is disclosed in Patent Document 1. According to this, the robot hand includes a pair of holding bodies. A bag body filled with a gel fluid is installed on one side of the holding body. When the holding body sandwiches the object to be sandwiched, the bag body is deformed along the shape of the object to be sandwiched. Thereby, the robot hand could hold the object to be clamped stably.

  In addition, Patent Document 2 discloses a robot hand that holds objects to be sandwiched arranged side by side. The robot hand includes a pair of finger formers. The finger forming body is formed of a cylindrical soft material. By supplying a fluid into the fingertip part of the finger former, the fingertip part can be expanded. And after inserting a thin fingertip part in the clearance gap between adjacent to-be-clamped things, a fingertip part is expanded. This hardens the fingertip. The robot hand held the object to be sandwiched between the hardened fingertips.

JP 2012-148380 A Japanese Patent Laid-Open No. 9-103983

  In the robot hand of Patent Document 1, a pair of holding bodies provided with a bag body hold the object to be clamped from both sides. When the objects to be clamped are installed side by side, the holding body in which the bag body is installed cannot be inserted between the adjacent objects to be clamped unless the adjacent objects to be clamped are separated from each other.

  In the robot hand of Patent Document 2, the side of the object to be clamped is pinched by a hard fingertip. Since the object to be clamped was held by the friction force when the side surface of the object to be clamped was pressed, it was easily affected by the surface state of the object to be clamped and the shape of the side surface. Therefore, it is estimated that stable holding may not be performed. Therefore, there has been a demand for a robot that can stably hold a sandwiched object even when the gap between adjacent sandwiched objects is narrow.

  As described above, the present invention was made to provide a robot that stably holds a sandwiched object even when the gap between adjacent sandwiched objects is narrow, and is realized as the following form or application example. Is possible.

[Application Example 1]
The robot hand according to this application example is a robot hand in which a holding unit holds the object to be clamped, and the holding unit is installed on the base and the base and is rotatable about a rotation axis. A plurality of curved rod-shaped members, and the plurality of curved rod-shaped members from a virtual plane including the plurality of rotating shafts due to a reaction force from the sandwiched object when the holding unit sandwiches the sandwiched object. It turns, and a part of said curved rod-shaped member hold | maintains the said to-be-clamped object.

  According to this application example, the robot hand includes a plurality of holding units. The holding unit holds the object to be clamped. A plurality of curved rod-shaped members are installed in the holding portion, and each curved rod-shaped member rotates from a virtual plane around the rotation axis.

  Each holding part is brought close to the object to be clamped. Then, the object to be clamped comes into contact with the curved rod-shaped member, and the object to be clamped presses the curved rod-shaped member. The curved rod-shaped member rotates around the rotation axis, and the curved rod-shaped member moves to the opposite side of the object to be clamped with respect to the rotational axis. Then, the object to be sandwiched is sandwiched between the curved rod members. A part of the curved rod-like member is located near the bottom of the object to be clamped. Thus, the robot hand can stably hold the object to be held by supporting the bottom and side surfaces of the object to be held.

  The curved rod-shaped member rotates from the virtual plane. Since the plurality of curved rod-shaped members follow the virtual plane when no external force is applied, the curved rod-shaped members are thin. Therefore, even when the gap between adjacent sandwiched objects is narrow, the holding portion can be inserted into the narrow gap. The position changing unit changes the position of the holding unit, so that an external force acts on the plurality of curved rod-like members. The curved rod-shaped member rotates by this external force, and the robot hand can hold the object to be clamped. As a result, even when the gap between adjacent sandwiched objects is narrow, the robot hand can stably hold the sandwiched object.

[Application Example 2]
The robot hand according to this application example is a robot hand in which a holding unit holds the object to be clamped, and the holding unit is installed on the base and the base and is rotatable about a rotation axis. A plurality of curved rod-shaped members, and rod-shaped tip portions installed at the tips of the plurality of curved rod-shaped members, and by the reaction force from the sandwiched object by the holding unit sandwiching the sandwiched object, The plurality of curved rod-like members rotate from a virtual plane including the plurality of pivot shafts, and the tip portion or a part of the curved rod-like member holds the object to be clamped.

  According to this application example, the robot hand includes a plurality of holding units. The holding unit holds the object to be clamped. The holding part is moved. A plurality of curved rod-shaped members are installed in the holding portion, and each curved rod-shaped member rotates around the rotation axis. Each curved rod-like member supports the tip.

  Each holding part is caused to approach the object to be clamped. Then, the object to be clamped comes into contact with the curved rod-shaped member, and the object to be clamped presses the curved rod-shaped member. The curved rod-shaped member rotates around the rotation axis, and the curved rod-shaped member moves to the opposite side of the object to be clamped with respect to the rotational axis. Thereby, a front-end | tip part approachs the back | inner side near the bottom of a to-be-clamped object from a rotating shaft. The tip is located near the bottom of the object to be clamped, and the curved bar-shaped member is in contact with the side surface of the object to be clamped. Thus, the robot hand can stably hold the object to be held by supporting the bottom and side surfaces of the object to be held.

  The curved rod-shaped member rotates from the virtual plane. Since the plurality of curved rod-shaped members follow the virtual plane when no external force is applied, the curved rod-shaped members and the tip end portions are thin. Therefore, even when the gap between adjacent sandwiched objects is narrow, the holding portion can be inserted into the narrow gap. The position changing unit changes the position of the holding unit, so that an external force acts on the plurality of curved rod-like members. The curved rod-shaped member rotates by this external force, and the robot hand can hold the object to be clamped. As a result, even when the gap between adjacent sandwiched objects is narrow, the robot hand can stably hold the sandwiched object.

[Application Example 3]
In the robot hand according to the application example, the rotation axis intersects the base portion and the tip portion of the holding portion.

  According to this application example, the holding unit includes the base. The rotating shaft intersects the base and the tip of the holding part. Therefore, when the curved rod-shaped member rotates, the tip end portion reliably enters the lower part of the object to be clamped. As a result, the holding portion can be held in contact with the bottom of the object to be sandwiched.

[Application Example 4]
In the robot hand according to the application example, the rotation shaft intersects the base portion of the holding portion and a bending portion of the curved rod-like member.

  According to this application example, the holding unit includes the base. The rotating shaft intersects the base of the holding portion and the bent portion of the bent rod-like member. Therefore, when the curved rod-shaped member rotates, the tip of the curved rod-shaped member surely enters the lower part of the object to be clamped. As a result, the holding portion can be held in contact with the bottom of the object to be sandwiched.

[Application Example 5]
In the robot hand according to the application example described above, when the curved rod-like member has a bow shape, the rotation shaft has a virtual shape corresponding to a string.

  According to this application example, the curved rod-like member has a bow shape. The rotation axis has a virtual shape corresponding to a string with respect to the bow shape of the curved rod-like member. Therefore, when the object to be clamped is held, the bent portion of the bent rod-like member can widely support the object to be clamped. And since the force which supports a to-be-clamped object is easy to disperse | distribute rather than shapes other than a bow shape, even when a to-be-clamped object is soft, it can be made hard to deform | transform a to-be-clamped object with a curved rod-shaped member.

[Application Example 6]
In the robot hand according to the application example described above, the holding unit includes an urging unit that urges the curved rod-like member to follow the virtual plane including the plurality of rotation shafts.

  According to this application example, the urging unit urges the bent rod-like member to follow the virtual plane. When the external force does not act on the plurality of curved rod-shaped members and the tip portion, the curved rod-shaped member and the tip portion are thin in thickness because the biased force of the biasing portion follows the virtual plane. Therefore, even when the gap between adjacent sandwiched objects is narrow, the holding portion can be inserted into the narrow gap.

[Application Example 7]
In the robot hand according to the application example described above, the urging portion includes a spring, and the spring urges the rotation of the curved rod-shaped member.

  According to this application example, the spring that urges the curved rod-like member can be urged by a force having a strong reproducibility. Therefore, the urging unit can urge the plurality of curved rod-shaped members so as to follow the same plane with good reproducibility.

[Application Example 8]
In the robot hand according to the application example described above, when the plurality of curved rod-shaped members follow a virtual plane including the plurality of rotation axes, the plurality of curved rod-shaped members intersect with each other.

  According to this application example, when the plurality of curved rod-shaped members follow the virtual plane, the plurality of curved rod-shaped members intersect. The intersecting place is a place between the rotation axes of the curved rod-like members. Therefore, the width between the curved rod-like members can be reduced in the direction orthogonal to the rotation axis on the virtual plane.

[Application Example 9]
The robot hand according to the application example described above is characterized in that the base portion includes a plurality of bearings that rotatably support the curved rod-shaped member in one curved rod-shaped member.

  According to this application example, the base includes a plurality of bearings that rotatably support one bent rod-like member. Since the bearing supports the curved rod-shaped member at two or more places, the curved rod-shaped member can be rotated with high accuracy around the pivot shaft.

[Application Example 10]
In the robot hand according to the application example described above, the joint portion flexibly connects the curved rod-shaped member and the tip portion, and the curved rod-shaped member and the tip portion center on two axes intersecting with the joint portion. And rotating.

  According to this application example, the joint portion is disposed between the curved rod-shaped member and the tip portion. The joint part rotates around two intersecting axes. The direction in which the tip of the curved rod-like member extends intersects the axial direction of the rotation shaft. When the bent rod-shaped member rotates about the rotation axis, the direction in which the bent rod-shaped member faces is changed. The tip portion is located in the direction in which the tip of the curved rod-like member extends. When the direction in which the tip of the bent bar-shaped member changes, the two axes rotate at the joint. Therefore, the curved rod-like member can be rotated so that the tip portion is not twisted.

[Application Example 11]
A robot according to this application example includes the robot hand according to any one of the above, a wrist joint portion connected to the robot hand, a link connected to the wrist joint portion, a main body portion, and the main body And a shoulder joint connected to the link.

  According to this application example, the robot includes the main body, and the shoulder joint is installed in the main body. A link is connected to the shoulder joint, and a wrist joint is installed on the link. A robot hand that holds an object to be clamped is connected to the wrist joint. When the holding part of the robot hand is not in contact with the object to be clamped, the curved rod-like member follows the virtual plane. Thereby, since the curved rod-shaped member follows a plane, the place occupied by the curved rod-shaped member is in a thin form. Therefore, even when the gap between adjacent sandwiched objects is narrow, the holding portion can be inserted into the narrow gap. Then, when the position changing unit causes the position of the holding unit to approach the object to be held, the robot hand can stably hold the object to be held. As a result, the robot can be a robot including a robot hand that holds the object to be held stably even when the gap between adjacent objects to be held is narrow.

[Application Example 12]
The robot hand according to this application example is a robot hand that holds the object to be clamped, a holding unit that holds the object to be clamped, a position changing unit that changes a position of the holding unit, and the holding unit And a plurality of curved rod-like members that are rotatable about a rotation axis, and the position changing unit narrows the interval between the plurality of holding units so that the plurality of holding units are held by the object to be clamped And the plurality of curved rod-shaped members are rotated from a virtual plane including the plurality of pivot shafts, and a part of the curved rod-shaped member is held so as to follow the surface of the object to be sandwiched. And

  According to this application example, the robot hand includes a plurality of holding units. The position changing unit moves the holding unit to change the relative positions of the plurality of holding units. And a holding part hold | maintains a to-be-clamped thing. A plurality of curved rod-shaped members are installed in the holding portion, and each curved rod-shaped member rotates from a virtual plane around the rotation axis.

  A position change part makes each holding part approach a to-be-clamped thing. Then, the object to be clamped comes into contact with the curved rod-shaped member, and the object to be clamped presses the curved rod-shaped member. The curved rod-shaped member rotates around the rotation axis, and the curved rod-shaped member moves to the opposite side of the object to be clamped with respect to the rotational axis. Then, the object to be sandwiched is sandwiched between the curved rod-like members. Accordingly, the robot hand can stably hold the object to be held by supporting the side surface of the object to be held.

  The curved rod-shaped member rotates from the virtual plane. Since the plurality of curved rod-shaped members follow the virtual plane when no external force is applied, the curved rod-shaped members are thin. Therefore, even when the gap between adjacent sandwiched objects is narrow, the holding portion can be inserted into the narrow gap. The position changing unit changes the position of the holding unit, so that an external force acts on the plurality of curved rod-like members. The curved rod-shaped member rotates by this external force, and the robot hand can hold the object to be clamped. As a result, even when the gap between adjacent sandwiched objects is narrow, the robot hand can stably hold the sandwiched object.

[Application Example 13]
The holding method of holding the object to be clamped according to this application example by the robot is a holding method in which the robot hand holds the object to be clamped, and includes a plurality of curved rod-like members that can rotate around a rotation axis. A first robot hand moving step that is installed on a virtual plane including a plurality of the rotation axes, and moves the robot hand so that the object to be clamped is positioned between a plurality of holding units; The curved rod-shaped member is rotated by a reaction force from the clamped object, the curved rod-shaped member is brought into contact with the object to be clamped, and the curved rod-shaped member is rotated by a reaction force from the clamped object. A holding start step for holding the object to be clamped, a second robot hand moving step of moving the robot hand while holding the object to be clamped, and the position changing unit moving the holding unit to Extend the distance between the holding parts And having a holding completion step of terminating the holding of the material to be clamped by separates the music bar-like member wherein a material to be clamped.

  According to this application example, in the first robot hand moving step, the urging portion rotates the curved rod-shaped member so that the plurality of curved rod-shaped members follow the virtual plane. The robot hand is moved so that the object to be clamped is positioned between the plurality of holding units. In the holding start process, the position changing unit moves the holding unit. And a position change part makes a curved-bar member contact a to-be-clamped object, and rotates a curved-bar-shaped member with the reaction force from a to-be-clamped object. Thereby, a curved rod-shaped member supports and hold | maintains a to-be-clamped thing. In the second robot hand moving step, the robot hand is moved while holding the object to be clamped. In the holding end process, the position changing unit moves the holding unit to increase the distance between the holding units. As a result, the position changing unit separates the curved rod-shaped member and the object to be held and ends the holding of the object to be held.

  In the first robot hand moving step, the thickness of the holding portion is reduced by allowing the plurality of curved rod-shaped members to follow the virtual plane. Therefore, the robot hand can be moved between the objects to be held even when the space between the adjacent objects to be held is narrow. In the holding start step, the bent rod-like member is held so as to be in contact with and supported by the object to be sandwiched. Therefore, the robot hand can hold the object to be clamped stably. As a result, even when the gap between adjacent sandwiched objects is narrow, the robot hand can stably hold the sandwiched object.

(A) And (b) is a schematic perspective view which shows the structure of a robot hand in connection with 1st Embodiment. (A) is a schematic perspective view which shows the structure of a robot hand, (b) is a typical sectional side view which shows the structure of a robot hand. (A) is a principal part schematic cross section which shows a 1st biasing part and a base, (b) is a principal part schematic cross section which shows the connection structure of a 1st stick | rod and a 1st front-end | tip part. The schematic diagram for demonstrating operation | movement of a 1st stick | rod-a 4th stick | rod. The schematic diagram for demonstrating operation | movement of a 1st stick | rod-a 4th stick | rod. The flowchart which shows the moving method of a to-be-clamped thing. The schematic diagram for demonstrating the moving method of a to-be-clamped thing. The schematic diagram for demonstrating the moving method of a to-be-clamped thing. In connection with the second embodiment, (a) is a schematic side view showing the structure of a robot hand, and (b) and (c) are schematic cross-sectional views of the relevant part showing the structure of the tip. The schematic diagram for demonstrating operation | movement of a robot hand. (A) is a schematic side view showing the structure of a robot hand, and (b) and (c) are schematic diagrams for explaining the operation of the robot hand. In connection with the fourth embodiment, (a) is a schematic side view showing the structure of a robot hand, and (b) is a schematic side view showing the structure of a robot hand in a comparative example. The schematic plan view which shows the structure of a bot hand in connection with 5th Embodiment. In connection with the sixth embodiment, (a) is a schematic side sectional view showing a structure of a robot hand, and (b) is a main part schematic sectional view showing a structure of a holding part. In connection with the seventh embodiment, (a) is a schematic side sectional view showing a structure of a robot hand, and (b) is a main part schematic sectional view showing a structure of a holding part. The schematic front view which shows the structure of a robot in connection with 8th Embodiment. The schematic front view which shows the structure of a double-arm robot. The schematic side view which shows the structure of the robot hand in connection with a modification. The schematic side view which shows the structure of a robot hand. The schematic side view which shows the structure of a robot hand.

(First embodiment)
In the present embodiment, a characteristic robot hand and an example of holding an object to be clamped by using this robot hand will be described with reference to FIGS. FIG. 1A to FIG. 2A are schematic perspective views showing the configuration of a robot hand. FIG. 1A shows a state immediately before the robot hand holds the object to be held, and FIG. 1B shows a state in which the robot hand contacts the object to be held. FIG. 2A shows a state where the robot hand holds the object to be clamped. FIG. 2B is a schematic side sectional view showing the configuration of the robot hand. FIG. 2B is a schematic cross-sectional view taken along the line AA ′ in FIG. In each drawing used in the following description, the scale is different for each member so that each member has a size that can be recognized on the drawing.

  As shown in FIGS. 1A to 2B, the object to be sandwiched 2 is placed on a square plate-like mounting table 1. The surface of the mounting table 1 facing the upper side in the figure is a flat surface 1a. The direction of the normal line of the plane 1a is the direction opposite to the direction in which the gravitational acceleration acts, and this direction is the Z direction. The directions along the plane 1a are the X direction and the Y direction, and the X direction, the Y direction, and the Z direction are directions orthogonal to each other.

  The object to be sandwiched 2 is not particularly limited as long as it is particularly difficult to deform. The sandwiched object 2 is an object such as ham, sausage, cheese, cream croquette, or konjac. In order to make the figure easy to see, only one object to be sandwiched 2 is placed on the placing table 1, but a plurality of objects to be sandwiched 2 may be arranged close to each other on the placing table 1. . In the figure, the sandwiched object 2 has a cylindrical shape, but the shape is not particularly limited to a cylindrical shape.

  A robot hand 4 installed on the robot 3 is positioned in the Z direction of the object to be clamped 2. The robot 3 includes an arm 5 extending in the Y direction and a plurality of arms and joints (not shown) connected to the arm 5. The robot 3 can move the arm 5 by rotating these joints.

  A lifting mechanism 6 and a rotating mechanism 7 are installed at the tip of the arm 5. The elevating mechanism 6 and the rotating mechanism 7 rotate the elevating rotation shaft 8 to reciprocate the elevating rotation shaft 8 in the Z direction. The structure of the raising / lowering mechanism 6 and the rotation mechanism 7 is not specifically limited. As the elevating mechanism 6, a motor and a ball screw, a linear motor, a rack and a pinion, or the like can be used. For example, in this embodiment, the elevating mechanism 6 has a structure in which a motor and a ball screw are combined, and the ball screw directly moves the elevating rotation shaft 8. The rotation mechanism 7 has a structure in which a motor and a reduction gear are combined, and the reduction gear rotates the up-and-down rotation shaft 8.

  A robot hand 4 is installed at the end in the −Z direction of the up-and-down rotation shaft 8. The robot hand 4 includes a position changing unit 9 connected to the lifting / lowering rotation shaft 8. The position changing unit 9 has a substantially rectangular parallelepiped shape. A pair of rails 9 a are installed on the surface on the −Z direction side of the position changing unit 9 so as to extend in the X direction. A first stage 9b and a second stage 9c are suspended from the rail 9a. The first stage 9b and the second stage 9c move in the ± X direction along the rail 9a. The ± X direction in which the first stage 9b and the second stage 9c move is defined as a position change direction 9d.

  The position changing unit 9 includes a linear motion mechanism inside, and the linear motion mechanism reciprocates the first stage 9b and the second stage 9c in the position change direction 9d. The position changing unit 9 can move the first stage 9b and the second stage 9c independently of each other. The structure of the linear motion mechanism provided in the position changing unit 9 is not particularly limited, and a mechanism similar to the lifting mechanism 6 can be used. In the present embodiment, for example, the linear motion mechanism is configured by combining a step motor and a ball screw.

  A first holding unit 10 serving as a holding unit is provided on the −Z direction side of the first stage 9b so as to be connected to the first stage 9b. On the −Z direction side of the second stage 9c, a second holding unit 11 is installed as a holding unit in connection with the second stage 9c. The position changing unit 9 has a function of changing the relative position between the first holding unit 10 and the second holding unit 11 by moving the first stage 9b and the second stage 9c. In this relative position control, a method based on position control using a preset template, a method based on gripping pressure control in which gripping is performed while monitoring the gripping pressure with a pressure sensor or the like can be used.

  The first holding unit 10 includes a first base 12 serving as a base connected to the position changing unit 9, and the position changing unit 9 moves the first base 12. The first base 12 has a shape in which a rectangular parallelepiped horizontal member 12b extending in the Y direction is connected to one end of a rectangular bar-shaped vertical member 12a extending in the Z direction. Similarly, the second holding unit 11 includes a second base 13 as a base connected to the position changing unit 9, and the position changing unit 9 moves the second base 13. The second base 13 has a shape in which a rectangular parallelepiped horizontal member 13b extending in the Y direction is connected to an end of a rectangular bar-shaped vertical member 13a extending in the Z direction. The vertical member 12a is fixed to the first stage 9b, and the vertical member 13a is fixed to the second stage 9c. Then, the position changing unit 9 changes the interval between the vertical member 12a and the vertical member 13a.

  A first rod 14 as a curved rod-like member extending in the −Z direction and a second rod 15 as a curved rod-like member are installed on the −Z direction side of the lateral member 12b. The first rod 14 is installed so as to be rotatable about a rotation shaft 14a along the Z direction as a rotation center. Similarly, the second rod 15 is also installed so as to be rotatable about a rotation shaft 15a along the Z direction. The rotation shaft 14a and the rotation shaft 15a are orthogonal to the position change direction 9d. Therefore, the virtual plane 19a including the rotation shaft 14a and the rotation shaft 15a is orthogonal to the position change direction 9d. On the Z direction side of the horizontal member 12b, a first urging portion 16 as an urging portion is installed at a location facing the first rod 14, and a second urging portion as an urging portion is located at a location facing the second rod 15. A force unit 17 is installed.

  The first urging portion 16 is connected to the first rod 14 and generates a torque corresponding to the angle at which the first rod 14 rotates. Similarly, the second urging portion 17 is connected to the second rod 15 and generates a torque corresponding to the angle at which the second rod 15 rotates. The first urging unit 16 and the second urging unit 17 urge the first rod 14 and the second rod 15 in a predetermined rotation direction.

  The first bar 14 is a round bar that has two arc portions 14b and is curved in an arcuate or substantially arcuate shape. Both ends of the first rod 14 are linear and are arranged along the rotation shaft 14a. A portion between the two circular arc portions 14b is a place farthest from the rotation shaft 14a, and this portion is a protruding portion 14c. Similarly, the second rod 15 has two arc portions 15b and has a bow shape or a substantially bow shape. Both ends of the second rod 15 are linear and are disposed along the rotation shaft 15a. A portion between the two arc portions 15b is a place farthest from the rotation shaft 15a, and this portion is referred to as a protruding portion 15c.

  A first distal end portion 20 as a distal end portion is provided at the ends of the first rod 14 and the second rod 15 on the −Z direction side. The 1st stick | rod 14 and the 2nd stick | rod 15 are installed so that rotation with respect to the 1st front-end | tip part 20 is possible. The first rod 14 is rotatably supported by the lateral member 12b and the first tip portion 20. Similarly, the 2nd stick | rod 15 is rotatably supported by the horizontal member 12b and the 1st front-end | tip part 20. As shown in FIG. The horizontal member 12b, the first tip portion 20, the rotating shaft 14a and the rotating shaft 15a form a rectangle. Therefore, even if the first rod 14 rotates about the rotation shaft 14a and the second rod 15 rotates about the rotation shaft 15a, the relative position between the lateral member 12b and the first tip 20 changes. Absent.

  The second holding unit 11 has the same shape as the first holding unit 10. On the −Z direction side of the horizontal member 13b, a third rod 21 as a curved rod-like member extending in the −Z direction and a fourth rod 22 as a curved rod-like member are installed. The third rod 21 is installed so as to be rotatable about a rotation shaft 21a along the Z direction. Similarly, the fourth rod 22 is also installed so as to be rotatable about a rotation shaft 22a along the Z direction. The rotation shaft 21a and the rotation shaft 22a are orthogonal to the position change direction 9d. Therefore, the virtual plane 19b including the rotation shaft 21a and the rotation shaft 22a is orthogonal to the position change direction 9d. On the Z direction side of the horizontal member 13b, a third urging portion 23 as an urging portion is installed at a location facing the third rod 21, and a fourth urging portion as an urging portion is disposed at a location facing the fourth rod 22. A force unit 24 is installed.

  The third urging portion 23 is connected to the third rod 21 and generates a torque corresponding to the angle at which the third rod 21 rotates. Similarly, the fourth urging portion 24 is connected to the fourth rod 22 and generates a torque corresponding to the angle at which the fourth rod 22 rotates. The third urging portion 23 and the fourth urging portion 24 urge the third rod 21 and the fourth rod 22 in a predetermined rotation direction.

  The third rod 21 has two arc portions 21b and has a shape curved in an arcuate shape or a substantially arcuate shape. Both ends of the third rod 21 are linear and are disposed along the rotation shaft 21a. A portion between the two arc portions 21b is a place farthest from the rotation shaft 21a, and this portion is a protruding portion 21c. Similarly, the fourth rod 22 has two arc portions 22b and is curved in a bow shape or a substantially bow shape. Both ends of the fourth rod 22 are linear and arranged along the rotation shaft 22a. A portion between the two arc portions 22b is a place farthest from the rotation shaft 22a, and this portion is referred to as a protruding portion 22c.

  A second distal end portion 25 as a distal end portion is provided at the ends of the third rod 21 and the fourth rod 22 on the −Z direction side. The third rod 21 and the fourth rod 22 are installed so as to be rotatable with respect to the second tip portion 25. The third rod 21 is rotatably supported by the lateral member 13b and the second tip portion 25. Similarly, the fourth rod 22 is rotatably supported by the lateral member 13b and the second tip portion 25. The horizontal member 13b, the second tip portion 25, the rotation shaft 21a, and the rotation shaft 22a form a rectangle. Therefore, even if the third rod 21 rotates about the rotation shaft 21a and the fourth rod 22 rotates about the rotation shaft 22a, the relative position between the lateral member 13b and the second tip portion 25 changes. Absent.

  A straight portion inserted into the transverse member 12b in the first rod 14 is defined as a straight portion 14e. A portion of the first rod 14 between the lateral member 12b and the first tip portion 20 is a curved portion 14f. The rotation shaft 14 a intersects the lateral member 12 b and the first tip portion 20. The straight portion 14e is along the rotation shaft 14a, and the curved portion 14f is separated from the rotation shaft 14a. Similarly, the linear part inserted in the horizontal member 12b among the 2nd stick | rods 15 is set as the linear part 15e. A portion of the second rod 15 between the transverse member 12b and the first tip portion 20 is a curved portion 15f. The rotation shaft 15a intersects the lateral member 12b and the first tip portion 20. The straight portion 15e is along the rotation shaft 15a, and the curved portion 15f is separated from the rotation shaft 15a.

  A straight portion inserted into the transverse member 13b in the third rod 21 is defined as a straight portion 21e. A portion of the third rod 21 between the lateral member 13b and the second tip portion 25 is referred to as a curved portion 21f. The rotation shaft 21a intersects the horizontal member 13b and the second tip portion 25. The straight portion 21e is along the rotation shaft 21a, and the curved portion 21f is separated from the rotation shaft 21a. Similarly, a straight portion inserted into the transverse member 13b in the fourth rod 22 is defined as a straight portion 22e. A portion of the fourth rod 22 between the lateral member 13b and the second tip portion 25 is referred to as a curved portion 22f. The rotation shaft 22a intersects the horizontal member 13b and the second tip portion 25. The straight portion 22e is along the rotation shaft 22a, and the curved portion 22f is separated from the rotation shaft 22a.

  The position changing unit 9 narrows the interval between the first stage 9b and the second stage 9c. At this time, the first rod 14 and the second rod 15 support the −X direction side of the object 2 to be sandwiched, and the third rod 21 and the fourth rod 22 support the X direction side of the object 2 to be sandwiched. And the 1st front-end | tip part 20 and the 2nd front-end | tip part 25 support and hold | maintain the bottom face of the to-be-clamped thing 2. As shown in FIG.

  A controller 26 is installed on the Y direction side of the robot hand 4 in the drawing. The control unit 26 is a device that controls the arm 5 and the robot hand 4. The control unit 26 moves the first stage 9 b and the second stage 9 c to change the interval between the first holding unit 10 and the second holding unit 11.

  The material of the first base 12, the second base 13, the first tip 20, the second tip 25, the first rod 14, the second rod 15, the third rod 21, and the fourth rod 22 is resistant to cleaning and disinfection and is rigid. There is no particular limitation as long as it has a certain material. Metal, silicone resin, or the like can be used. In this embodiment, for example, the material of the first base 12, the second base 13, the first tip 20, the second tip 25, the first rod 14, the second rod 15, the third rod 21, and the fourth rod 22 is used. Stainless steel is used for the. As the cleaning method, for example, a method combining ultrasonic cleaning by immersing in a cleaning solution and mechanical cleaning such as brushing can be used. For disinfection, for example, boiling disinfection or chlorine disinfection can be performed.

  As shown in FIG. 1 (a), when the robot hand 4 is not holding the object to be clamped 2, the first rod 14 and the second rod 15 are arranged along the same plane, and the third rod 21 and the second rod The four bars 22 are arranged along the same plane. As shown in FIG. 1B, when the first base portion 12 and the second base portion 13 approach, the first rod 14 to the fourth rod 22 come into contact with the object to be sandwiched 2. Since the first rod 14 to the fourth rod 22 are curved in an arcuate shape, the first rod 14 to the fourth rod 22 rotate so that the first tip portion 20 and the second tip portion 25 are clamped. 2 is located closer to the center than the outer periphery in the ± X direction.

  As shown in FIG. 2A, the first base 12 and the second base 13 further approach each other. The first rod 14 and the second rod 15 project to the −X side, and the third rod 21 and the fourth rod 22 project to the X side. And the 1st tip part 20 and the 2nd tip part 25 are located in the center side from the perimeter of the X direction of further thing 2 to be clamped.

  Fig.3 (a) is a principal part schematic sectional drawing which shows a 1st biasing part and a base. As shown to Fig.3 (a), the through-hole 12c is installed in the horizontal member 12b, and the linear part 14e of the 1st stick | rod 14 is inserted in the through-hole 12c. A first bearing 27 as a bearing and a second bearing 28 as a bearing are installed in the through hole 12c, and the first bearing 27 and the second bearing 28 rotatably support the first rod 14. The first bearing 27 and the second bearing 28 support the first rod 14 at two places. As a result, the first bearing 27 and the second bearing 28 prevent the linear portion 14e of the first rod 14 from being inclined with respect to the rotation shaft 14a, and the first rod 14 is accurately centered on the rotation shaft 14a. It can be rotated.

  The first bearing 27 and the second bearing 28 need only be able to turn the first rod 14 with low frictional resistance, and the types of the first bearing 27 and the second bearing 28 are not particularly limited. Examples of the types of the first bearing 27 and the second bearing 28 include rolling bearings such as ball bearings and roller bearings, and sliding bearings using engineering plastics, bearing alloys, ceramics, and the like. In this embodiment, a ball bearing which is one of ball bearings is used.

  The first rod 14 protrudes through the transverse member 12b. Near the end of the first rod 14, a through hole 14 d that penetrates the first rod 14 in the radial direction is formed. The first urging portion 16 includes a coil spring 16a as a spring, and an end of the coil spring 16a is inserted into the through hole 14d. A recess 12d is formed on the upper surface of the horizontal member 12b, and the end of the coil spring 16a is inserted into the recess 12d. When the first rod 14 rotates about the rotation shaft 14a, a torque is applied to the first rod 14 by the coil spring 16a.

  A cover 16b is installed so as to cover the coil spring 16a. The cover 16b protects the coil spring 16a from being attached to the coil spring 16a from what is separated from the object 2 to be sandwiched. The structure in which the second bar 15 is installed on the horizontal member 12b is the same as the structure in which the first bar 14 is installed on the horizontal member 12b, and the description thereof is omitted. Similarly, the structure in which the third rod 21 and the fourth rod 22 are installed on the horizontal member 13b is the same as the structure in which the first rod 14 is installed on the horizontal member 12b, and the description thereof is omitted. The internal structure of the second urging part 17, the third urging part 23, and the fourth urging part 24 is the same as the internal structure of the first urging part 16, and the description thereof is omitted.

  FIG. 3B is a schematic cross-sectional view of a main part showing a connection structure between the first rod and the first tip. As shown in FIG. 3B, the end of the first rod 14 in the −Z direction is linear along the rotation shaft 14a. The end of the first rod 14 is installed at the first tip 20 via a third bearing 29. Therefore, the first rod 14 is rotatable with a low frictional resistance with respect to the first tip portion 20.

  The type of the third bearing 29 is not particularly limited, and a bearing similar to the first bearing 27 can be used. The structure in which the second rod 15 is installed at the first tip portion 20 is the same as the structure in which the first rod 14 is installed at the first tip portion 20, and a description thereof will be omitted. Similarly, the structure in which the third rod 21 and the fourth rod 22 are installed at the second tip portion 25 is the same as the structure in which the first rod 14 is installed at the first tip portion 20, and a description thereof will be omitted. .

  4 and 5 are schematic diagrams for explaining the operation of the first bar to the fourth bar. FIGS. 4A to 5B are views as seen from the line B-B ′ in FIG. FIG. 4A shows a state where the robot hand 4 is not holding the object to be clamped 2. FIG. 4B to FIG. 5A show a process until the robot hand 4 holds the object 2 to be sandwiched. FIG. 5B shows a state where the robot hand 4 holds the object 2 to be sandwiched. FIGS. 5C and 5D are views of the first rod 14 viewed from the Z direction side of the transverse member 12b. FIG. 5C shows a state where the robot hand 4 does not hold the object 2 to be held, and FIG. 5D shows a state where the robot hand 4 holds the object 2 to be held. Note that the surface of the cover 16b on the Z direction side is omitted in FIGS. 5 (c) and 5 (d) for the sake of clarity.

  As shown in FIG. 4A, when the robot hand 4 does not hold the object 2, the distance between the first tip 20 and the second tip 25 in the X direction is the distance between the object 2 and the object 2. It is longer than the width. Then, the protruding portion 14 c of the first rod 14 and the protruding portion 15 c of the second rod 15 approach each other and protrude in the longitudinal direction of the first tip portion 20. Thereby, the 1st stick | rod 14 and the 2nd stick | rod 15 follow the same or substantially the same virtual plane 19a when it sees from a Z direction, and overlap with the 1st front-end | tip part 20. As shown in FIG. The first rod 14 and the second rod 15 do not protrude in the X direction of the first tip 20. Similarly, the protruding portion 21 c of the third rod 21 and the protruding portion 22 c of the fourth rod 22 approach each other and protrude in the longitudinal direction of the second tip portion 25. Thereby, the 3rd bar | burr 21 and the 4th bar | burr 22 overlap with the 2nd front-end | tip part 25 following the same or substantially the same virtual plane 19b when it sees from a Z direction. The third rod 21 and the fourth rod 22 do not protrude in the X direction of the second tip portion 25. Thereby, the 1st holding | maintenance part 10 and the 2nd holding | maintenance part 11 can be inserted in a narrow clearance gap.

  As shown in FIG. 4B, the position changing unit 9 moves the first base portion 12 and the second base portion 13 so that the first rod 14, the second rod 15, the third rod 21, and the fourth rod 22 are moved. Reduce the spacing. Thereby, in the 1st stick | rod 14, the protrusion part 14c is pressed by the to-be-clamped thing 2, and rotates centering | focusing on the rotating shaft 14a. Similarly, the second rod 15, the third rod 21, and the fourth rod 22 rotate about the rotation shaft 15a, the rotation shaft 221a, and the rotation shaft 22a, respectively. The first bar 14 and the second bar 15 are separated from the virtual plane 19a, and the third bar 21 and the fourth bar 22 are separated from the virtual plane 19b. And the 1st front-end | tip part 20 and the 2nd front-end | tip part 25 move toward the center of the to-be-clamped object 2 seeing from a Z direction.

  As shown in FIG. 4C and FIG. 5A, the position changing unit 9 further moves the first base 12 and the second base 13, and the first rod 14, the second rod 15, and the third rod. The interval between 21 and the fourth rod 22 is narrowed. Thereby, the protrusion part 14c is pressed by the to-be-clamped object 2, and the 1st stick | rod 14 rotates centering on the rotating shaft 14a. Similarly, the second rod 15, the third rod 21, and the fourth rod 22 rotate about the rotation shaft 15a, the rotation shaft 21a, and the rotation shaft 22a, respectively. And the 1st front-end | tip part 20 and the 2nd front-end | tip part 25 move toward the center of the to-be-clamped object 2 seeing from a Z direction.

  As shown in FIG. 5 (b), the position changing unit 9 further moves the first base 12 and the second base 13, and the first rod 14, the second rod 15, the third rod 21 and the fourth rod 22. Reduce the interval. And the protrusion part 14c of the 1st stick | rod 14 and the protrusion part 15c of the 2nd stick | rod 15 are pressed toward the to-be-clamped object 2, and protrude toward the direction away from the horizontal member 12b. Then, when viewed from the Z direction, the first tip 20 enters the bottom of the object 2 to be sandwiched.

  Similarly, the protruding portion 21c of the third rod 21 and the protruding portion 22c of the fourth rod 22 are pressed by the object to be clamped 2 and protrude in the direction away from the lateral member 13b. And when it sees from a Z direction, the 2nd front-end | tip part 25 approachs the bottom of the thing 2 to be clamped. Thereby, since the space | interval of the 1st front-end | tip part 20 and the 2nd front-end | tip part 25 becomes shorter than the width | variety of the to-be-clamped object 2, the bottom of the to-be-clamped object 2 is supported by the 1st front-end | tip part 20 and the 2nd front-end | tip part 25. It becomes possible.

  Next, when the robot hand 4 releases the object to be sandwiched 2, the position changing unit 9 moves the first base 12 and the second base 13 to widen the distance between the first base 12 and the second base 13. At this time, the first rod 14, the second rod 15, and the third rod in the order shown in FIGS. 5 (b), 5 (a), 4 (c), 4 (b), and 4 (a). 21 and the fourth rod 22 rotate.

  As a result, as shown in FIG. 4A, the first tip portion 20 and the second tip portion 25 are separated from the object to be sandwiched 2 when viewed from the Z direction. The protruding portion 14 c of the first rod 14 and the protruding portion 15 c of the second rod 15 approach each other and protrude in the longitudinal direction of the first tip portion 20. When viewed from the Z direction, the first rod 14 and the second rod 15 follow the same or substantially the same plane and overlap the first tip portion 20. Similarly, the protruding portion 21 c of the third rod 21 and the protruding portion 22 c of the fourth rod 22 approach each other and protrude in the longitudinal direction of the second tip portion 25. Thereby, the 3rd bar | burr 21 and the 4th bar | burr 22 overlap with the 2nd front-end | tip part 25 following the same or substantially the same plane, when it sees from a Z direction. The third rod 21 and the fourth rod 22 do not protrude in the X direction of the second tip portion 25.

  As shown in FIG. 5 (c), a regulating pin 30 is provided near the coil spring 16a on the surface of the transverse member 12b on the Z direction side. The first rod 14 is bent at a right angle at a location near the end on the −Z direction side. The first rod 14 is biased by the coil spring 16a so as to rotate clockwise in the figure. And when the 1st stick | rod 14 is not contacting the to-be-clamped object 2, the side surface near the end of the 1st stick | rod 14 contacts the control pin 30. FIG. The restriction pin 30 restricts the first rod 14 from rotating. With this structure, the protruding portion 14 c of the first rod 14 faces the longitudinal direction of the first tip portion 20.

  As shown in FIG. 5 (d), when the first rod 14 comes into contact with the object to be clamped 2, the first rod 14 is separated from the regulation pin 30. When the object to be clamped 2 moves in the −X direction in the figure, the first rod 14 is pushed by the object to be clamped 2 and rotates counterclockwise. When the object to be clamped 2 moves in the X direction, the first rod 14 is biased by the coil spring 16a and rotates clockwise.

  The second urging unit 17, the third urging unit 23, and the fourth urging unit 24 have the same structure as the first urging unit 16. The second rod 15, the third rod 21, and the fourth rod 22 are restricted from turning in the same manner as the first rod 14. The operation of each urging unit and each bar is the same as that of the first urging unit 16 and the first bar 14, and a detailed description thereof will be omitted.

  Next, a method of holding and moving the object to be clamped 2 using the robot 3 described above will be described with reference to FIGS. FIG. 6 is a flowchart showing a method for moving the object to be clamped. 7 and 8 are schematic views for explaining a method of moving the object to be clamped.

  In FIG. 6, step S1 corresponds to a first robot hand moving step. In this step, the first urging unit 16 to the fourth urging unit 24 urge the fourth rod 22 from the first rod 14. The first rod 14 and the second rod 15 follow the same or substantially the same plane, and the third rod 21 and the fourth rod 22 follow the same or substantially the same plane. And it is the process of moving the robot hand 4 so that the to-be-clamped object 2 is located between the 1st holding | maintenance part 10 and the 2nd holding | maintenance part 11. FIG. Next, the process proceeds to step S2. Step S2 corresponds to a holding start process. In this step, the position changing unit 9 moves the first holding unit 10 and the second holding unit 11. The position changing unit 9 presses each of the first rod 14 to the fourth rod 22 against the object to be sandwiched 2. In this step, the first rod 14 to the fourth rod 22 are rotated by the reaction force from the object 2 to be held, and the first rod 14 to the fourth rod 22 are held so as to support the object 2 to be held. Next, the process proceeds to step S3.

  Step S3 corresponds to a second robot hand moving step. This step is a step of moving the robot hand 4 holding the object to be clamped 2. Next, the process proceeds to step S4. Step S4 corresponds to a holding end process. In this step, the position changing unit 9 moves the first holding unit 10 and the second holding unit 11 to increase the distance between the first holding unit 10 and the second holding unit 11. The position changing unit 9 is a step of separating the first bar 14 to the fourth bar 22 and the object to be clamped 2 and ending the holding of the object 2 to be clamped. The process of moving the object to be clamped 2 is completed by the above process.

  Next, the movement method of the to-be-clamped object 2 is demonstrated in detail using FIG.7 and FIG.8 corresponding to the step shown in FIG. FIGS. 7A and 7B are diagrams corresponding to the first robot hand moving step of step S1. As shown in FIG. 7A, in step S1, three objects to be sandwiched 2 are arranged on the mounting table 1. Note that a part of the mounting table 1 and the object to be clamped 2 in the figure are shown in the drawing, and a large number of objects to be clamped 2 are arranged on the mounting table 1. And the positional accuracy of the place where the to-be-clamped object 2 is arrange | positioned is low, and the space | interval of the to-be-clamped object 2 is in the state with variation.

  The robot hand 4 moves to a place where the robot 3 faces the object to be clamped 2. The distance between the first tip portion 20 and the second tip portion 25 is set to be longer than the length of the object to be clamped 2 in the X direction. You may set the space | interval of the 1st front-end | tip part 20 and the 2nd front-end | tip part 25 with reference to the predetermined dimension of the thing 2 to be clamped. In addition, an imaging device and an image processing device may be installed in the robot 3. The image processing device may measure the dimension of the object to be clamped 2 using the image captured by the imaging device, and set the interval between the first tip portion 20 and the second tip portion 25 with reference to the measured dimension. . In this method, a plurality of types of objects to be sandwiched 2 can be handled.

  Next, as shown in FIG. 7B, the robot 3 lowers the robot hand 4 to bring the first tip portion 20 and the second tip portion 25 closer to the mounting table 1. The first tip portion 20 and the second tip portion 25 are preferably brought close to each other so as not to contact the mounting table 1. The position changing unit 9 can move the first holding unit 10 and the second holding unit 11 with a small force compared to when the non-contacting side contacts. However, a claw structure may be provided in the first tip portion 20 and the second tip portion 25, and in that case, the nail may be held on the object by contacting the claw on the installation base and sliding it. is there.

  Since the first urging portion 16 to the fourth urging portion 24 urge the first rod 14 to the fourth rod 22, the protruding portion 14 c of the first rod 14 protrudes in the Y direction and the second rod 15. The protrusion 15c protrudes in the -Y direction. Accordingly, the first rod 14 to the fourth rod 22 follow the same or substantially the same plane. Accordingly, since the first rod 14 and the second rod 15 have a narrow width in the X direction, the first rod 14 and the second rod 15 can be easily inserted into the gap between adjacent sandwiched objects 2. The third rod 21 and the fourth rod 22 are also in the same state as the first rod 14 and the second rod 15. Accordingly, the third rod 21 and the fourth rod 22 are easily inserted into the gap between the adjacent objects to be sandwiched 2.

  FIG. 7C is a diagram corresponding to the holding start process in step S2. As shown in FIG. 7C, in step S2, the position changing unit 9 brings the first base 12 and the second base 13 closer. Thereby, in the 1st holding | maintenance part 10, the protrusion part 14c and the protrusion part 15c are pushed by the to-be-clamped thing 2, and protrude in a -X direction. Similarly, in the 2nd holding | maintenance part 11, the protrusion part 21c and the protrusion part 22c are pushed by the to-be-clamped object 2, and protrude in the X direction. Then, the first tip portion 20 and the second tip portion 25 enter between the mounting table 1 and the object to be sandwiched 2.

  In the robot hand 4, the first tip portion 20 and the second tip portion 25 support the bottom of the object 2, and the first rod 14 to the fourth rod 22 sandwich the side surface of the object 2. Therefore, the robot 3 can raise the object 2 while the robot hand 4 stably holds the object 2.

  FIGS. 7D to 8B are diagrams corresponding to the second robot hand moving step in step S3. As shown in FIG. 7D, in step S3, the robot 3 drives the elevating mechanism 6 to raise the robot hand 4. Next, as shown in FIG. 8A, the robot 3 moves the robot hand 4 and the sandwiched object 2 in the horizontal direction. The robot 3 moves the object to be held 2 to a place opposite to the place where the object to be held 2 is moved. Subsequently, as shown in FIG. 8B, the robot 3 drives the lifting mechanism 6 to lower the robot hand 4. And the to-be-clamped object 2 is mounted on the mounting base 1 of a movement destination.

  FIG. 8C to FIG. 8D are diagrams corresponding to the holding end process in step S4. As illustrated in FIG. 8C, the position changing unit 9 moves the first holding unit 10 and the second holding unit 11 to increase the distance between the first holding unit 10 and the second holding unit 11. And the position change part 9 spaces apart the 1st stick | rod 14-the 4th stick | rod 22, and the thing 2 to be clamped. Since the first urging portion 16 to the fourth urging portion 24 urge the first rod 14 to the fourth rod 22, the protruding portion 14c of the first rod 14 and the protruding portion 21c of the third rod 21 are Y. The protrusion 15c of the second rod 15 and the protrusion 22c of the fourth rod 22 protrude in the -Y direction. Thus, the first rod 14 and the second rod 15 follow the same or substantially the same plane, and the third rod 21 and the fourth rod 22 follow the same or substantially the same plane.

  Next, as shown in FIG. 8D, the robot 3 drives the lifting mechanism 6 to raise the robot hand 4 and waits. The process of moving the object to be clamped 2 is completed by the above process.

As described above, this embodiment has the following effects.
(1) According to the present embodiment, the first rod 14 and the second rod 15 support the first tip portion 20 in the first holding portion 10, and the third rod 21 and the fourth rod 22 in the second holding portion 11. Supports the second tip 25. When the object to be clamped 2 pushes the first rod 14 to the fourth rod 22, the first rod 14 to the fourth rod 22 rotate. Then, the sandwiched object 2 enters between the first base portion 12 and the first tip portion 20. The first tip portion 20 is located between the object to be clamped 2 and the mounting table 1. Similarly, the sandwiched object 2 enters between the second base portion 13 and the second tip portion 25. In the second holding part 11, the second tip part 25 is positioned between the object to be sandwiched 2 and the mounting table 1. Accordingly, since the robot hand 4 supports the bottom of the object to be sandwiched 2, the object to be sandwiched 2 can be stably held.

  (2) According to this embodiment, when each holding part is not in contact with the object to be clamped 2, each urging part urges the rod. The first bar 14 and the second bar 15 follow the same plane by the respective urging portions, and the third bar 21 and the fourth bar 22 follow the same plane. Thereby, each stick | rod and each front-end | tip part become a form with thin thickness. Therefore, each holding part can be inserted into a narrow gap even when the gap between adjacent sandwiched objects 2 is narrow. And the position change part 9 changes the position of each holding | maintenance part, and external force larger than urging | biasing force acts on the 1st stick | rod 14-the 4th stick | rod 22. FIG. Each rod rotates by this external force, and the robot hand 4 can hold the object 2 to be held. As a result, the robot hand 4 can stably hold the object 2 even when the gap between the adjacent objects 2 is narrow.

  (3) According to the present embodiment, in the first holding unit 10, the first rod 14 and the second rod 15 are installed between the horizontal member 12 b and the first tip 20, and in the second holding unit 11, A third bar 21 and a fourth bar 22 are installed between the member 13b and the second tip 25. When the position changing unit 9 causes each holding unit to approach the object to be sandwiched 2, each rod comes into contact with the object to be sandwiched 2. The 1st front-end | tip part 20 and the 2nd front-end | tip part 25 are located under the to-be-clamped thing 2, and each stick | rod supports the side surface of the to-be-clamped object 2. FIG. As a result, the robot hand 4 supports the bottom and side surfaces of the object 2 to be held, and thus the object 2 can be stably held.

  (4) According to this embodiment, the coil spring 16 a of the first biasing portion 16 biases the first rod 14. The coil spring 16a can be biased with a force having good reproducibility. Accordingly, the first urging unit 16 can urge the first rod 14 so as to follow the same plane with good reproducibility. This content also has the same effect in the second urging unit 17, the third urging unit 23, and the fourth urging unit 24.

  (5) According to this embodiment, in the 1st holding | maintenance part 10, the horizontal member 12b is provided with the 1st bearing 27 and the 2nd bearing 28 which support the 1st rod 14 so that rotation is possible. Since the first bearing 27 and the second bearing 28 support the first rod 14 at two places, the robot hand 4 can accurately rotate the first rod 14 around the rotation shaft 14a. it can. This content also has the same effect in the second rod 15, the third rod 21, and the fourth rod 22. As a result, the first rod 14 to the fourth rod 22 can be stably rotated with a small force.

  (6) According to this embodiment, the 1st bearing 27, the 2nd bearing 28, and the 3rd bearing 29 are arrange | positioned on the rotating shaft 14a. Accordingly, the first rod 14 can be rotated with a small force. This content also has the same effect in the second rod 15, the third rod 21, and the fourth rod 22.

  (7) According to the present embodiment, the robot hand 4 holds the object to be sandwiched 2 between the first holding unit 10 and the second holding unit 11. Therefore, the robot hand 4 can hold the object 2 without being limited by the length of the object 2 when the object 2 is long.

(Second Embodiment)
Next, an embodiment of a robot hand having a characteristic structure will be described with reference to FIGS. This embodiment is different from the first embodiment in that the connection structure between the rod and the tip is different. Note that description of the same points as in the first embodiment is omitted.

  FIG. 9A is a schematic side view showing the structure of the robot hand, and FIG. 9B and FIG. 9C are schematic cross-sectional views of the main part showing the structure of the tip. That is, in this embodiment, as shown in FIG. 9A, the robot hand 34 installed in the robot 33 includes a horizontal member 12b, and the first member as a curved rod-shaped member is provided on the −Z direction side of the horizontal member 12b. A rod 35 and a second rod 36 as a curved rod-like member are installed. The first rod 35 rotates about the rotation shaft 35a, and the second rod 36 rotates about the rotation shaft 36a. The first bar 35 and the second bar 36 have the same shape, and are installed with a predetermined interval in the Y direction.

  The 1st stick | rod 35 is installed so that rotation is possible centering | focusing on the rotating shaft 35a along a Z direction. The first rod 35 has an arc portion 35b and an arc portion 35d, and has a bow shape or a substantially bow shape. The vicinity of the end on the first base 12 side of the first rod 35 is linear and is disposed along the rotation shaft 35a. A portion between the arc portion 35b and the arc portion 35d is a place farthest from the rotation shaft 35a, and this portion is referred to as a protruding portion 35c. The shape of the second rod 36 is the same as that of the first rod 35 and will not be described.

  The −Z side of the arc portion 35d of the first rod 35 is inclined with respect to the rotation shaft 35a. In other words, the direction in which the tip of the first rod 35 extends and the axial direction of the rotation shaft 35a intersect each other. And the 1st front-end | tip part 37 as a front-end | tip part is installed in the end of the -Z direction side of the 1st stick | rod 35 and the 2nd stick | rod 36. As shown in FIG. The first rod 35 and the second rod 36 are installed so as to be rotatable with respect to the first tip portion 37. The first rod 35 is rotatably supported by the lateral member 12b and the first tip portion 37. Similarly, the second rod 36 is rotatably supported by the lateral member 12b and the first tip portion 37. The horizontal member 12b, the first tip 37, the rotation shaft 35a, and the rotation shaft 36a form a rectangle. Therefore, even if the first rod 35 rotates about the rotation shaft 35a and the second rod 36 rotates about the rotation shaft 36a, the relative position between the lateral member 12b and the first tip 37 changes. Absent.

  The horizontal member 13b is provided with a third rod 38 as a curved rod-shaped member and a fourth rod 39 as a curved rod-shaped member. The third rod 38 rotates about the rotation shaft 38a, and the fourth rod 39 rotates about the rotation shaft 39a. The third bar 38 and the fourth bar 39 have the same shape as the first bar 35 and the second bar 36, and are installed at a predetermined interval in the Y direction. And the 2nd front-end | tip part 40 as a front-end | tip part is installed in the end of the 3rd bar | burr 38 and the 4th bar | burr 39 at the -Z direction side. The portion constituted by the transverse member 13b, the third rod 38, the fourth rod 39 and the second tip portion 40 is the portion constituted by the transverse member 12b, the first rod 35, the second rod 36 and the first tip portion 37, and Z. It is symmetrical with respect to a virtual line extending in the direction. The third rod 38 rotates about the rotation shaft 38a, and the fourth rod 39 rotates about the rotation shaft 39a.

  A straight portion inserted into the transverse member 12b in the first rod 35 is defined as a straight portion 35e. A portion of the first rod 35 between the lateral member 12b and the first tip portion 37 is a curved portion 35f. The straight portion 35e is along the rotation shaft 35a, and the curved portion 35f is separated from the rotation shaft 35a. A straight portion inserted into the transverse member 12b in the second rod 36 is defined as a straight portion 36e. A portion of the second rod 36 between the transverse member 12b and the first tip portion 37 is a curved portion 36f. The straight portion 36e is along the rotation shaft 36a, and the curved portion 36f is separated from the rotation shaft 36a.

  Similarly, the linear part inserted in the horizontal member 13b among the 3rd stick | rods 38 is set as the linear part 38e. A portion of the third rod 38 between the lateral member 13b and the second tip 40 is a curved portion 38f. The straight portion 38e is along the rotation shaft 38a, and the curved portion 38f is separated from the rotation shaft 38a. A straight portion inserted into the transverse member 13b in the fourth rod 39 is defined as a straight portion 39e. A portion of the fourth rod 39 between the lateral member 13b and the second tip 40 is a curved portion 39f. The straight line portion 39e is along the rotation shaft 39a, and the curved portion 39f is separated from the rotation shaft 39a.

  The first base 12, the first rod 35, the second rod 36, the first tip 37, and the like constitute a first holding portion 46 as a holding portion, and the second base 13, the third rod 38, the fourth rod 39, and the like. A second holding portion 47 as a holding portion is configured by the second tip portion 40 and the like. The first holding unit 46 and the second holding unit 47 are symmetrical with respect to a virtual line extending in the Z direction.

  FIG. 9B and FIG. 9C are views showing a portion where the first rod 35 and the first tip 37 are connected. FIG. 9C is a cross-sectional view taken along the line D-D ′ of FIG. As shown in FIGS. 9B and 9C, the first rod 35 is connected to the first tip portion 37 through the joint portion 41. The joint portion 41 has a fourth bearing 42. The kind of the 4th bearing 42 is not specifically limited, The bearing similar to the 1st bearing 27 can be used. In the present embodiment, a ball bearing is used for the fourth bearing 42. A first rod 35 is inserted into the inner ring of the fourth bearing 42. A bearing support portion 43 is installed on the outer ring of the fourth bearing 42.

  A fifth bearing 44 is installed in the bearing support portion 43. The type of the fifth bearing 44 is not particularly limited, and the same bearing as the first bearing 27 can be used. In the present embodiment, a ball bearing is used for the fifth bearing 44. An outer ring of the fifth bearing 44 is fixed to the bearing support portion 43, and a joint rotation shaft 45 is installed on the inner ring of the fifth bearing 44. The rotation shaft of the fourth bearing 42 and the rotation shaft of the fifth bearing 44 are disposed so as to be orthogonal to each other.

  Both ends of the joint rotation shaft 45 are fixed to the first tip portion 37. The axial direction of the joint rotation shaft 45 and the longitudinal direction of the first tip portion 37 are arranged so as to be orthogonal to each other. A concave portion 37a is installed in the first tip portion 37, and a joint rotation shaft 45 is installed in the concave portion 37a. Thereby, even if the joint part 41 rotates around the joint rotation shaft 45, the joint part 41 does not interfere with the first tip part 37. The first tip portion 37 has a trapezoidal shape when viewed from the longitudinal direction, and has a thin thickness. And the front end side of the 1st front-end | tip part 37 has an acute angle. Thereby, the 1st front-end | tip part 37 is easy to approach between the mounting base 1 and the to-be-clamped object 2. FIG.

  Of the side surfaces of the first tip portion 37, the surface of the fourth bearing 42 that is longer in the rotational axis direction is the receiving surface 37b and the slope opposite to the receiving surface 37b is the outer surface 37c. The first tip portion 37 is installed such that the receiving surface 37b faces the second tip portion 40 and the outer surface 37c faces the mounting table 1. Note that the second rod 36 and the first tip portion 37 are connected via a joint portion 41. Further, the third rod 38 and the second tip portion 40 are connected via a joint portion 41, and the fourth rod 39 and the second tip portion 40 are connected via a joint portion 41.

  FIG. 10 is a schematic diagram for explaining the operation of the robot hand, and FIGS. 10A and 10C are views seen from the C-C ′ line in FIG. FIG. 10B and FIG. 10D are side views of the first tip portion 37 as viewed from the −X direction. 10A and 10B show a state in which the robot hand 34 does not hold the object 2 to be held, and FIGS. 10C and 10D show the state in which the robot hand 34 holds the object 2 to be held. The held state is shown.

  As shown in FIGS. 10A and 10B, when the robot hand 34 is not holding the object 2 to be clamped, the first urging unit 16 urges the first bar 35 and the second bar 36 is urged by the second urging unit 17. The rotation angle of the first rod 35 and the second rod 36 is restricted by the restriction pin 30. Thereby, when viewed from the Z direction, the first rod 35 and the second rod 36 overlap the first tip portion 37. The first rod 35 protrudes in the −Y direction of the rotation shaft 35a, and the second rod 36 protrudes in the −Y direction of the rotation shaft 36a. The first rod 35 and the second rod 36 are inclined from the Z direction toward the −Y direction around the joint rotation shaft 45. In this state, the receiving surface 37b faces the X direction, and the first tip portion 37 is thin without being inclined as viewed from the Z direction. Similarly, when viewed from the Z direction, the third rod 38 and the fourth rod 39 overlap the second tip portion 40. A place corresponding to the receiving surface 37b of the first tip portion 37 in the second tip portion 40 is defined as a receiving surface 40b. The receiving surface 40b faces the -X direction, and the second tip portion 40 is also thin when viewed from the Z direction. Accordingly, the first holding part 46 and the second holding part 47 can be inserted between the adjacent objects 2 even when the interval between the adjacent objects 2 is narrow.

  As shown in FIGS. 10C and 10D, when the robot hand 34 holds the object 2 to be held, the position changing unit 9 brings the horizontal member 12b and the horizontal member 13b closer to the object 2 to be held. . Then, the first rod 35 to the fourth rod 39 are pressed against the object to be sandwiched 2. The first rod 35 protrudes to the −X direction side of the rotation shaft 35a, and the second rod 36 also protrudes to the −X direction side of the rotation shaft 36a. Similarly, the third rod 38 projects to the X direction side of the rotation shaft 38a, and the fourth rod 39 also projects to the X direction side of the rotation shaft 39a.

  The first tip portion 37 and the second tip portion 40 enter between the mounting table 1 and the object to be sandwiched 2. Then, the direction in which the perpendicular of the receiving surface 37b faces moves from the X direction to the Z direction. The direction in which the perpendicular of the receiving surface 40b faces moves from the -X direction to the Z direction.

As described above, this embodiment has the following effects.
(1) According to the present embodiment, when the position changing unit 9 brings the horizontal member 12b and the horizontal member 13b closer, the direction in which the perpendicular of the receiving surface 37b faces is moved from the X direction to the Z direction. The first tip portion 37 is a thin member. Further, the outer surface 37 c of the first tip portion 37 moves so as to face the mounting table 1. Therefore, the first tip portion 37 can easily enter between the mounting table 1 and the object to be sandwiched 2.

  Then, the direction in which the first bar 35 and the second bar 36 rotate and the perpendicular of the receiving surface 37b faces moves from the X direction to the Z direction. Similarly, the direction in which the third bar 38 and the fourth bar 39 rotate and the perpendicular of the receiving surface 40b faces moves from the −X direction to the Z direction. The receiving surface 37 b is a wide surface in the first tip portion 37, and the receiving surface 40 b is a wide surface in the second tip portion 40. Therefore, since the receiving surface 37b and the receiving surface 40b receive the bottom of the object 2 to be clamped, the first holding part 46 and the second holding part 47 can stably hold the object 2 to be clamped.

  (2) According to the present embodiment, the direction in which the portion near the tip of the first rod 35 extends and the axial direction of the rotation shaft 35a intersect each other. When the first rod 35 rotates about the rotation shaft 35a, the direction in which the tip of the first rod 35 faces changes. The first tip portion 37 is located in the direction in which the tip of the first rod 35 extends. When the direction in which the tip of the first rod 35 faces changes, the first rod 35 and the joint rotation shaft 45 rotate in the joint portion 41. Therefore, the first rod 35 can be rotated so that the first tip portion 37 is not twisted. This content has the same effect on the relationship between the second rod 36 and the first tip portion 37. Further, the same effect is obtained with respect to the relationship between the third rod 38 and the fourth rod 39 and the second tip portion 40.

  (3) According to the present embodiment, when the robot hand 34 is not holding the object 2, the first bar 35 and the second bar 36 overlap with the first tip 37 as viewed from the Z direction. Similarly, the third bar 38 and the fourth bar 39 overlap with the second tip 40 as viewed from the Z direction. Therefore, the first holding part 46 and the second holding part 47 can be inserted and held between the adjacent objects 2 even when the interval between the adjacent objects 2 is narrow.

(Third embodiment)
Next, an embodiment of a robot hand having a characteristic structure will be described with reference to FIG. This embodiment is different from the second embodiment in that the tip is located at a location away from the rotation shaft. Note that the description of the same points as in the second embodiment will be omitted.

  FIG. 11A is a schematic side view showing the structure of the robot hand. FIG. 11B and FIG. 11C are schematic diagrams for explaining the operation of the robot hand, and are cross-sectional views taken along line E-E ′ of FIG. That is, in this embodiment, as shown in FIG. 11A, the robot hand 51 installed in the robot 50 includes a horizontal member 12b, and the first member as a curved rod-shaped member is provided on the −Z direction side of the horizontal member 12b. A rod 52 and a second rod 53 as a curved rod-like member are installed. The first rod 52 rotates about the rotation shaft 52a, and the second rod 53 rotates about the rotation shaft 53a. The 1st stick | rod 52 and the 2nd stick | rod 53 are the same shapes, and are provided in the Y direction with a predetermined space | interval.

  The first rod 52 has an arc portion 52b and an arc portion 52d, and has a bow shape or a substantially bow shape. A portion between the circular arc portion 52b and the circular arc portion 52d is a place farthest from the rotation shaft 52a, and this portion is a protruding portion 52c. The shape of the second rod 53 is the same as that of the first rod 52, and a place corresponding to the protruding portion 52c of the first rod 52 is defined as a protruding portion 53c.

  A first tip portion 37 is installed at the tips of the first rod 52 and the second rod 53. The first tip portion 37 is located on the opposite side of the protruding portion 52c with respect to the rotation shaft 52a. Similarly, the 1st front-end | tip part 37 is located in the other side of the protrusion part 53c with respect to the rotating shaft 53a.

  The horizontal member 13b is provided with a third rod 54 as a curved rod member and a fourth rod 55 as a curved rod member. The third bar 54 rotates about the rotation axis 54a, and the fourth bar 55 rotates about the rotation axis 55a. The third rod 54 and the fourth rod 55 have the same shape as the first rod 52 and the second rod 53. A place corresponding to the protruding portion 52c of the first rod 52 in the third rod 54 is defined as a protruding portion 54c. A place corresponding to the protruding portion 52c of the first rod 52 in the fourth rod 55 is defined as a protruding portion 55c.

  The third bar 54 and the fourth bar 55 are installed with a predetermined interval in the Y direction. And the 2nd front-end | tip part 40 is installed in the end of the 3rd rod 54 and the 4th rod 55 at the -Z direction side. The second tip portion 40 is separated from the rotating shaft 54a and is located on the opposite side of the protruding portion 54c with respect to the rotating shaft 54a. Similarly, the 2nd tip part 40 is separated from rotation axis 55a, and is located on the opposite side of projection part 55c to rotation axis 55a.

  A first holding portion 56 as a holding portion is configured by the first base portion 12, the first rod 52, the second rod 53, the first tip portion 37, and the like. A second holding portion 57 as a holding portion is configured by the second base portion 13, the third rod 54, the fourth rod 55, the second tip portion 40, and the like. The first holding unit 56 and the second holding unit 57 are symmetrical with respect to a virtual line extending in the Z direction.

  A straight portion inserted into the transverse member 12b in the first rod 52 is defined as a straight portion 52e. A portion of the first rod 52 between the lateral member 12b and the first tip portion 37 is a curved portion 52f. The straight portion 52e extends along the rotation shaft 52a, the curved portion 52f intersects the rotation shaft 52a at one portion, and the other portion is separated from the rotation shaft 52a. A straight portion inserted into the transverse member 12b in the second rod 53 is defined as a straight portion 53e. A portion of the second rod 53 between the lateral member 12b and the first tip portion 37 is a curved portion 53f. The straight portion 53e extends along the rotation shaft 53a, and the curved portion 53f intersects with the rotation shaft 53a at one portion, and the other portion is separated from the rotation shaft 53a.

  A straight portion inserted into the transverse member 13b in the third rod 54 is defined as a straight portion 54e. A portion of the third rod 54 between the lateral member 13b and the second tip 40 is a curved portion 54f. The straight portion 54e extends along the rotation shaft 54a, and the curved portion 54f intersects with the rotation shaft 54a at one place, and the other portion is separated from the rotation shaft 54a. A straight portion inserted into the transverse member 13b of the fourth rod 55 is defined as a straight portion 55e. A portion of the fourth rod 55 between the lateral member 13b and the second tip 40 is a curved portion 55f. The straight portion 55e extends along the rotation shaft 55a, the curved portion 55f intersects the rotation shaft 55a at one portion, and the other portion is separated from the rotation shaft 55a.

  As shown in FIG. 11B, when the robot hand 51 is not holding the object 2 to be clamped, the first biasing portion 16 biases the first bar 52 and the second bias 53 is second biased. Part 17 is energized. The rotation angle of the first rod 52 and the second rod 53 is regulated by the regulation pin 30. The first rod 52 projects in the −Y direction of the rotation shaft 52a, and the second rod 53 projects in the −Y direction of the rotation shaft 53a. Thereby, when viewed from the Z direction, the first rod 52 and the second rod 53 overlap the first tip portion 37. Similarly, the third rod 54 protrudes in the −Y direction of the rotation shaft 54a, and the fourth rod 55 protrudes in the −Y direction of the rotation shaft 55a. Thereby, when viewed from the Z direction, the third rod 54 and the fourth rod 55 overlap the second tip portion 40. Therefore, the first holding part 56 and the second holding part 57 can be inserted between the adjacent objects 2 even when the interval between the adjacent objects 2 is narrow.

  As shown in FIG. 11C, when the robot hand 51 holds the object to be sandwiched 2, the position changing unit 9 brings the lateral member 12 b and the lateral member 13 b closer to the object 2 to be sandwiched. Then, the first rod 52 to the fourth rod 55 are pressed against the object to be sandwiched 2. The protrusion 52c of the first rod 52 moves to the −X direction side of the rotation shaft 52a, and the protrusion 53c of the second rod 53 also moves to the −X direction side of the rotation shaft 53a. And the 1st front-end | tip part 37 moves in parallel and moves to the X direction side of the rotating shaft 52a and the rotating shaft 53a.

  Similarly, the protrusion 54c of the third rod 54 moves to the X direction side of the rotation shaft 54a, and the protrusion 55c of the fourth rod 55 also moves to the X direction side of the rotation shaft 55a. And the 2nd front-end | tip part 40 moves in parallel, and moves to the -X direction side of the rotating shaft 54a and the rotating shaft 55a.

  The first tip portion 37 and the second tip portion 40 enter between the mounting table 1 and the object to be sandwiched 2. And the 1st front-end | tip part 37 approachs inside from the rotating shaft 52a and the rotating shaft 53a. The second tip portion 40 also enters inward from the rotation shaft 54a and the rotation shaft 55a.

As described above, this embodiment has the following effects.
(1) According to this embodiment, the robot hand 51 grips the object to be clamped 2. At this time, the first tip portion 37 moves in parallel and moves to the X direction side of the rotation shaft 52a and the rotation shaft 53a. The second tip 40 also enters the −X direction side from the rotation shaft 54a and the rotation shaft 55a. Thereby, since the 1st front-end | tip part 37 and the 2nd front-end | tip part 40 approach the place near the center of the to-be-clamped object 2, and hold | maintain the to-be-clamped object 2, it can hold | maintain the to-be-clamped object 2 stably. .

  (2) According to this embodiment, the place where the first rod 52 is connected to the first tip portion 37 is separated from the rotating shaft 52a. The place where the second rod 53 is connected to the first tip portion 37 is away from the rotating shaft 53a. Accordingly, by rotating the first rod 52 and the second rod 53, the first tip portion 37 can be moved to a place away from the rotation shaft 52a and the rotation shaft 53a.

  (3) According to the present embodiment, since the first tip portion 37 moves in parallel with the rotation of the first rod 52 and the second rod 53, the distance between the tips of the first rod 52 and the second rod 53 is as follows. It does not change. Since the bars are rotated without changing the shapes of the first bar 52 and the second bar 53, the first bar 52 and the second bar 53 can be rotated with a small external force.

  (4) According to this embodiment, when the robot hand 51 is not holding the object to be clamped 2, the first rod 52 and the second rod 53 overlap with the first tip portion 37 when viewed from the Z direction. Similarly, the third rod 54 and the fourth rod 55 overlap the second tip portion 40 when viewed from the Z direction. Therefore, the robot hand 51 can insert and hold the first holding unit 56 and the second holding unit 57 between the adjacent objects 2 even when the interval between the adjacent objects 2 is narrow.

(Fourth embodiment)
Next, an embodiment of a robot hand having a characteristic structure will be described with reference to FIG. The present embodiment is different from the first embodiment in that two bars supporting the first tip 20 intersect. Note that description of the same points as in the first embodiment is omitted.

  FIG. 12A is a schematic side view showing the structure of the robot hand. FIG. 12B is a schematic side view showing the structure of the robot hand in the comparative example. That is, in the present embodiment, as shown in FIG. 12A, the robot hand 61 installed in the robot 60 includes a holding portion 61a, and the holding portion 61a includes a lateral member 12b.

  A first rod 62 as a curved rod-shaped member and a second rod 63 as a curved rod-shaped member are installed on the −Z direction side of the horizontal member 12b. A regulating pin 30 and a coil spring 16a are installed on the Z direction side of the horizontal member 12b. When the first rod 62 and the second rod 63 follow the same plane, the first rod 62 and the second rod 63 intersect. At this time, the holding portion width 64 indicating the width of the holding portion 61 a is the length of the first tip portion 20. Although not shown, the robot hand 61 includes another holding unit at a position facing the holding unit 61a, and the third bar and the fourth bar included in the holding unit intersect when following the same plane.

  In the form of the comparative example shown in FIG. 12B, the robot hand 66 installed in the robot 65 includes a holding unit 66a, and the holding unit 66a includes a horizontal member 12b. A first rod 67 as a curved rod-shaped member and a second rod 68 as a curved rod-shaped member are installed on the −Z direction side of the lateral member 12b. A regulating pin 30 and a coil spring 16a are installed on the Z direction side of the horizontal member 12b. When the first rod 67 and the second rod 68 follow the same plane, the first rod 67 and the second rod 68 protrude in a direction away from each other. At this time, the holding portion width 69 indicating the width of the holding portion 66 a is longer than the width of the first tip portion 20. Therefore, when the first rod 62 and the second rod 63 follow the same plane, and when the third rod and the fourth rod follow the same plane, it is better to install them so that the rods intersect each other. 64 can be shortened.

As described above, this embodiment has the following effects.
(1) According to the present embodiment, when the first rod 62 and the second rod 63 follow the same plane, the first rod 62 and the second rod 63 intersect each other. Thereby, the holding | maintenance part width | variety 64 can be narrowed. As a result, the robot hand 61 can be easily moved so as not to interfere with the object to be sandwiched 2.

(Fifth embodiment)
Next, an embodiment of a robot hand having a characteristic structure will be described with reference to FIG. This embodiment is different from the second embodiment in that three holding units are installed on the robot hand. Note that the description of the same points as in the second embodiment will be omitted.

  FIG. 13 is a schematic plan view showing the structure of the robot hand. FIG. 13A shows a state in which the robot hand is waiting for holding, and FIG. 13B shows a state in which the robot hand is holding an object to be clamped. That is, in this embodiment, as shown in FIG. 13A, the robot hand 73 installed in the robot 72 includes a first holding unit 74 as a holding unit, a second holding unit 75 as a holding unit, and a holding unit. 3rd holding | maintenance part 76 is provided. The object 77 to be held by the robot hand 73 is an equilateral triangle when viewed from the Z direction.

  Each holding part has the same structure as the first holding part 46 in the second embodiment. The first rod 78 as the curved rod-shaped member of each holding portion, the second rod 79 as the curved rod-shaped member, the distal end portion 80 and the base portion 81 are the first rod 35, the second rod 36, the first rod of the second embodiment, respectively. This is a portion corresponding to the distal end portion 37 and the first base portion 12. The first rod 78, the second rod 79, the distal end portion 80, and the base portion 81 of each holding portion are arranged following substantially the same plane. The moving direction of each base 81 is a position changing direction 82. In each base 81, the rotation shaft 78a of the first rod 78 and the rotation shaft 79a of the second rod 79 are orthogonal to the position change direction 82, respectively.

  As illustrated in FIG. 13B, a position changing unit (not shown) moves the first holding unit 74 to the third holding unit 76 in the direction of the object 77 to be sandwiched. The first rod 78 and the second rod 79 of each holding portion rotate in contact with the object 77 to be sandwiched. The first rod 78 and the second rod 79 protrude toward the outer periphery of the object 77 to be sandwiched. As a result, the tip 80 enters from the outer periphery of the object 77 to the center side. The first rod 78 and the second rod 79 of each holding portion are arranged in contact with the side surface of the object 77 to be sandwiched.

  Thereby, the front-end | tip part 80, the 1st stick | rod 78, and the 2nd stick | rod 79 support the to-be-clamped object 77 from three directions. The bottom of the sandwiched object 77 is held at the tip 80 at three locations, and the side surfaces are supported by the first rod 78 and the second rod 79 from three directions.

As described above, this embodiment has the following effects.
(1) According to the present embodiment, the triangular sandwiched object 77 is held by the holding unit from three directions. Accordingly, the robot hand 73 can hold the object 77 with high stability.

(Sixth embodiment)
Next, an embodiment of a robot hand having a characteristic structure will be described with reference to FIG. This embodiment is different from the first embodiment in that the first tip portion 20 and the second tip portion 25 are omitted. Note that description of the same points as in the first embodiment is omitted.

  FIG. 14A is a schematic sectional side view showing the structure of the robot hand, and FIG. 14B is a schematic sectional view of the main part showing the structure of the holding part. That is, in the present embodiment, as shown in FIG. 14A, the robot hand 85 installed in the robot 84 includes a first holding unit 85a and a second holding unit 85b. The first holding portion 85a includes a horizontal member 12b, and a first rod 86 as a curved rod-shaped member and a second rod 87 as a curved rod-shaped member are installed on the −Z direction side of the horizontal member 12b. The first rod 86 rotates about the rotation shaft 86a, and the second rod 87 rotates about the rotation shaft 87a. The first rod 86 and the second rod 87 have the same shape, and are installed with a predetermined interval in the Y direction.

  The first rod 86 is installed so as to be rotatable about a rotation shaft 86a along the Z direction. The first rod 86 has an arc portion 86b and an arc portion 86d, and has a bow shape or a substantially bow shape. An end of the first rod 86 on the first base 12 side is linear and is disposed along the rotation shaft 86a. A portion between the circular arc portion 86b and the circular arc portion 86d is a place farthest from the rotation shaft 86a, and this portion is a protruding portion 86c.

  The end of the first rod 86 on the mounting table 1 side is defined as a first end 86g. A space between the arc portion 86d and the first end portion 86g is formed in parallel with the plane 1a. The first end 86g is located on the rotation shaft 86a. Thereby, even if the 1st stick | rod 86 rotates centering on the rotating shaft 86a, the relative position of the 1st base 12 and the 1st end part 86g does not change. And when it sees from the Y direction side in a figure, the 1st end part 86g is formed in the acute angle. Therefore, the first end portion 86g is easy to enter between the mounting table 1 and the object to be sandwiched 2. Note that the shape of the second rod 87 is the same as that of the first rod 86, and the description thereof is omitted. The rotation shaft 86a and the rotation shaft 87a of the second rod 87 are orthogonal to the position change direction 9d. Therefore, the virtual plane 19a including the rotation shaft 86a and the rotation shaft 87a is orthogonal to the position change direction 9d.

  The second holding portion 85b includes a lateral member 13b. The horizontal member 13b is provided with a third rod 88 as a curved rod-shaped member and a fourth rod 89 as a curved rod-shaped member. The third rod 88 rotates about the rotation shaft 88a, and the fourth rod 89 rotates about the rotation shaft 89a. The third rod 88 and the fourth rod 89 have the same shape as the first rod 86 and the second rod 87, and are installed at a predetermined interval in the Y direction. The portion constituted by the transverse member 13b, the third rod 88, and the fourth rod 89 is symmetrical with respect to the portion constituted by the transverse member 12b, the first rod 86, and the second rod 87 and an imaginary line extending in the Z direction. It has become. Therefore, the shapes of the third rod 88 and the fourth rod 89 are the same as those of the first rod 86 and the second rod 87, and detailed description thereof is omitted. The third rod 88 rotates about the rotation shaft 88a, and the fourth rod 89 rotates about the rotation shaft 89a. The rotation shaft 88a and the rotation shaft 89a are orthogonal to the position change direction 9d. Therefore, the virtual plane 19b including the rotation shaft 88a and the rotation shaft 89a is orthogonal to the position change direction 9d.

  A straight portion inserted into the transverse member 12b of the first rod 86 is defined as a straight portion 86e. A portion of the first rod 86 that extends from the lateral member 12b is a curved portion 86f. The straight portion 86e is along the rotation shaft 86a, and the curved portion 86f is separated from the rotation shaft 86a. A straight portion inserted into the transverse member 12b in the second rod 87 is defined as a straight portion 87e. A portion of the second rod 87 that extends from the transverse member 12b is a curved portion 87f. The straight portion 87e is along the rotation shaft 87a, and the curved portion 87f is separated from the rotation shaft 87a between both ends.

  A straight portion inserted into the transverse member 13b in the third rod 88 is defined as a straight portion 88e. A portion of the third rod 88 that extends from the lateral member 13b is a curved portion 88f. The straight portion 88e is along the rotation shaft 88a, and the curved portion 88f is separated from the rotation shaft 88a. A straight portion inserted into the transverse member 13b of the fourth rod 89 is defined as a straight portion 89e. A portion of the fourth rod 89 that extends from the lateral member 13b is a curved portion 89f. The straight portion 89e is along the rotation shaft 89a, and the curved portion 89f is separated from the rotation shaft 89a between both ends.

  When the robot hand 85 holds the object 2 to be held, the position changing unit 9 brings the first holding part 85a and the second holding part 85b closer to the object 2 to be held. The sandwiched object 2 presses the first rod 86 to the fourth rod 89. The first rod 86 to the fourth rod 89 rotate about the rotation shaft 86a to the rotation shaft 89a, respectively, and the curved portion 86f to the curved portion 89f correspond to the rotation shaft 86a to the rotation shaft 89a, respectively. It moves in a direction away from the object to be clamped 2. Thereby, the to-be-clamped thing 2 approachs between the both ends of the curved part 86f-the curved part 89f. A place corresponding to the first end 86g and the first end 86g of the second rod 87 to the fourth rod 89 enters between the bottom of the object to be sandwiched 2 and the mounting table 1, and the bottom of the object to be sandwiched 2 and A bar supports the side.

  When the 1st holding | maintenance part 85a and the 2nd holding | maintenance part 85b are not contacting the to-be-clamped thing 2, the 1st biasing part 16-the 4th biasing part 24 bias the 1st stick | rod 86-the 4th stick | rod 89, respectively. To do. The first urging portion 16 to the fourth urging portion 24 cause the first rod 86 and the second rod 87 to follow the same plane, and the third rod 88 and the fourth rod 89 follow the same plane. Thereby, the location occupied by the first rod 86 and the second rod 87 and the location occupied by the third rod 88 and the fourth rod 89 are thin. Therefore, even when the gap between adjacent sandwiched objects 2 is narrow, the first holding part 85a and the second holding part 85b can be inserted into the narrow gap.

As described above, this embodiment has the following effects.
(1) According to this embodiment, when the robot hand 85 holds the object to be sandwiched 2, the object to be sandwiched 2 enters between the curved portions 86 f to 89 f. The ends of the bars enter between the bottom of the object to be sandwiched 2 and the mounting table 1, and the bars support the bottom and side surfaces of the object to be sandwiched 2. Accordingly, the robot hand 85 can stably hold the object to be held by supporting the bottom and side surfaces of the object 2 to be held.

  (2) According to this embodiment, when the 1st holding | maintenance part 85a and the 2nd holding | maintenance part 85b are not contacting the to-be-clamped object 2, the place which the 1st stick | rod 86 and the 2nd stick | rod 87 occupy, and the 3rd stick | rod 88. And the fourth rod 89 occupy a thin form. Therefore, even when the gap between adjacent sandwiched objects 2 is narrow, the first holding part 85a and the second holding part 85b can be inserted into the narrow gap.

  (3) According to this embodiment, since the first tip portion 20 is not installed at the first end portion 86g, the first rod 86 can be easily rotated. Since the structure becomes simple, the robot hand 85 can be easily manufactured.

(Seventh embodiment)
Next, an embodiment of a robot hand having a characteristic structure will be described with reference to FIG. This embodiment differs from the sixth embodiment in that the end of each rod on the mounting table 1 side is on the opposite side of the protruding portion with respect to the rotation center and is separated from the rotation center. The description of the same points as in the sixth embodiment will be omitted.

  FIG. 15A is a schematic sectional side view showing the structure of the robot hand, and FIG. 15B is a schematic sectional view of the main part showing the structure of the holding part. That is, in this embodiment, as shown in FIG. 15A, the robot hand 93 installed in the robot 92 includes a first holding part 93a and a second holding part 93b. The first holding portion 93a includes a lateral member 12b, and a first rod 94 as a curved rod-shaped member and a second rod 95 as a curved rod-shaped member are installed on the −Z direction side of the lateral member 12b. The first rod 94 rotates about the rotation shaft 94a, and the second rod 95 rotates about the rotation shaft 95a. The first rod 94 and the second rod 95 have the same shape, and are installed with a predetermined interval in the Y direction. The rotation shaft 94a and the rotation shaft 95a are orthogonal to the position change direction 9d. Therefore, the virtual plane 19a including the rotation shaft 94a and the rotation shaft 95a is orthogonal to the position change direction 9d.

  The first rod 94 is installed so as to be rotatable about a rotation shaft 94a along the Z direction. The first rod 94 has an arc portion 94b and an arc portion 94d, and has a bow shape or a substantially bow shape. The end of the first rod 94 on the first base 12 side is linear and is disposed along the rotation shaft 94a. A portion between the arc portion 94b and the arc portion 94d is a place farthest from the rotation shaft 94a, and this portion is referred to as a protruding portion 94c.

  An end of the first rod 94 on the mounting table 1 side is a first end portion 94g. A portion between the arc portion 94d and the first end portion 94g is formed in parallel with the plane 1a. The first end 94g is on the opposite side of the projecting portion 94c with respect to the pivot shaft 94a and is separated from the pivot shaft 94a. Thereby, when the 1st stick | rod 94 rotates centering on the rotating shaft 94a, the 1st end part 94g moves centering on the rotating shaft 94a. The first end portion 94g is formed at an acute angle when viewed from the Y direction side in the figure. Therefore, the first end portion 94g is easy to enter between the mounting table 1 and the object to be sandwiched 2. Note that the shape of the second rod 95 is the same as that of the first rod 94, and a description thereof will be omitted.

  The second holding portion 93b includes a lateral member 13b. The horizontal member 13b is provided with a third rod 96 as a curved rod-shaped member and a fourth rod 97 as a curved rod-shaped member. The third rod 96 rotates about the rotation shaft 96a, and the fourth rod 97 rotates about the rotation shaft 97a. The third rod 96 and the fourth rod 97 have the same shape as the first rod 94 and the second rod 95, and are installed at a predetermined interval in the Y direction. The portion constituted by the transverse member 13b, the third rod 96, and the fourth rod 97 is symmetrical with the portion constituted by the transverse member 12b, the first rod 94, and the second rod 95 and an imaginary line extending in the Z direction. It has become. Accordingly, the shapes of the third rod 96 and the fourth rod 97 are the same as those of the first rod 94 and the second rod 95, and detailed description thereof is omitted. The third rod 96 rotates about the rotation shaft 96a, and the fourth rod 97 rotates about the rotation shaft 97a. The rotation shaft 96a and the rotation shaft 97a are orthogonal to the position change direction 9d. Therefore, the virtual plane 19b including the rotation shaft 96a and the rotation shaft 97a is orthogonal to the position change direction 9d.

  A straight portion inserted into the transverse member 12b of the first rod 94 is defined as a straight portion 94e. A portion of the first rod 94 that extends from the lateral member 12b is a curved portion 94f. The straight portion 94e is along the rotation shaft 94a, the curved portion 94f has one place that intersects the rotation shaft 94a, and the other portion is separated from the rotation shaft 94a. A straight portion inserted into the transverse member 12b of the second rod 95 is defined as a straight portion 95e. A portion of the second rod 95 that extends from the lateral member 12b is a curved portion 95f. The straight portion 95e is along the rotation shaft 95a, the curved portion 95f has one place that intersects with the rotation shaft 95a, and the other portion is separated from the rotation shaft 95a.

  Of the third rod 96, the straight portion inserted into the transverse member 13b is defined as a straight portion 96e. A portion of the third rod 96 that extends from the lateral member 13b is a curved portion 96f. The straight portion 96e is along the rotation shaft 96a, the curved portion 96f has one place that intersects the rotation shaft 96a, and the other portion is separated from the rotation shaft 96a. A straight portion inserted into the transverse member 13b in the fourth rod 97 is defined as a straight portion 97e. A portion of the fourth rod 97 that extends from the lateral member 13b is a curved portion 97f. The straight portion 97e is along the rotation shaft 97a, the curved portion 97f has one place that intersects the rotation shaft 97a, and the other portion is separated from the rotation shaft 97a.

  When the robot hand 93 holds the object 2 to be held, the position changing unit 9 brings the first holding part 93a and the second holding part 93b closer to the object 2 to be held. The sandwiched object 2 presses the first rod 94 to the fourth rod 97. The first rod 94 to the fourth rod 97 rotate around the rotation shaft 94a to the rotation shaft 97a, respectively. The curved portions 94f to 97f move to the opposite side of the object to be clamped 2 with respect to the rotational shaft 94a to the rotational shaft 97a, respectively. Thereby, the to-be-clamped thing 2 approachs the curved part 94f-the curved part 97f. The ends of the bars enter between the bottom of the object to be sandwiched 2 and the mounting table 1, and the bars support the bottom and side surfaces of the object to be sandwiched 2.

  The first end 94g is located on the opposite side of the protrusion 94c with respect to the rotation shaft 94a, and the first end 94g is separated from the rotation shaft 94a. Therefore, the first end portion 94g enters the center side of the object to be clamped 2 from the rotation shaft 94a. Similarly, a place corresponding to the first end 94g of the second rod 95 to the fourth rod 97 enters between the bottom of the object to be sandwiched 2 and the mounting table 1. Thereby, in the robot hand 93, the end of each bar can easily receive the weight of the object 2 to be sandwiched.

  When the first holding portion 93a and the second holding portion 93b are not in contact with the object to be clamped 2, the first biasing portion 16 to the fourth biasing portion 24 bias the first rod 94 to the fourth rod 97, respectively. To do. The first urging portion 16 to the fourth urging portion 24 cause the first rod 94 and the second rod 95 to follow the same plane, and the third rod 96 and the fourth rod 97 follow the same plane. Thereby, the location occupied by the first rod 94 and the second rod 95 and the location occupied by the third rod 96 and the fourth rod 97 are thin. Therefore, even when the gap between adjacent sandwiched objects 2 is narrow, the first holding part 93a and the second holding part 93b can be inserted into the narrow gap.

As described above, this embodiment has the following effects.
(1) According to this embodiment, when the robot hand 93 holds the object to be clamped 2, the object to be clamped 2 enters between both ends of each arcuate bar. The tip of each rod enters under the object to be sandwiched 2, and each rod supports the bottom and side surfaces of the object to be sandwiched 2. Thus, the robot hand 93 can stably hold the object to be held by supporting the bottom and side surfaces of the object 2 to be held. The end of each bar enters the back side from each rotation axis. Accordingly, since the robot hand 93 can easily receive the weight of the object 2 to be held at the end of each rod, the robot hand 93 can hold the object 2 to be held more stably.

  (2) According to this embodiment, when the first holding part 93a and the second holding part 93b are not in contact with the object to be sandwiched 2, the place occupied by the first bar 94 and the second bar 95 and the third bar The place occupied by 96 and the fourth rod 97 is thin. Therefore, even when the gap between adjacent sandwiched objects 2 is narrow, the first holding part 93a and the second holding part 93b can be inserted into the narrow gap.

(Eighth embodiment)
Next, a robot provided with the robot hand of the above embodiment will be described with reference to FIGS. 16 and 17. FIG. 16 is a schematic front view showing the structure of the robot. As shown in FIG. 16, the robot 100 includes a first arm 101. A second arm 102 is installed in connection with the first arm 101. A motor 103 is installed on the first arm 101, and an output shaft of the motor 103 is connected to the second arm 102. The second arm 102 can be horizontally rotated with respect to the first arm 101 by driving the motor 103. That is, the robot 100 is a scalar robot.

  A robot hand 104 is installed on the second arm 102. Any of the robot hands 4, 34, 51, 61, 66, 73, 85, 93 in the above embodiment is used for the robot hand 104.

  FIG. 17 is a schematic front view showing the structure of the dual-arm robot. As shown in FIG. 17, the double-arm robot 105 includes a main body unit 106. Then, a pair of arm portions 107 are installed in connection with the main body portion 106. Each arm 107 is provided with a shoulder joint 108, a first link 109, an elbow joint 110, a second link 111, a wrist joint 112, and a robot hand 113 in this order.

  Any of the robot hands 4, 34, 51, 61, 66, 73, 85, and 93 in the above embodiment is used for the robot hand 113.

As described above, this embodiment has the following effects.
(1) According to this embodiment, the robot 100 includes the robot hand 104, and any one of the robot hands 4, 34, 51, 61, 66, 73, 85, and 93 in the above embodiment is used for the robot hand 104. It has been. Even when the gap between adjacent sandwiched objects 2 is narrow, the robot hand in the embodiment can stably hold the sandwiched object 2. Therefore, the robot 100 can be a robot including the robot hand 104 that can stably hold the object 2 even when the gap between adjacent objects 2 is narrow.

  (2) According to the present embodiment, the double-arm robot 105 includes the robot hand 113, and the robot hand 113 is one of the robot hands 4, 34, 51, 61, 66, 73, 85, 93 in the above embodiment. Is used. Even when the gap between adjacent sandwiched objects 2 is narrow, the robot hand in the embodiment can stably hold the sandwiched object 2. Therefore, even when the gap between adjacent sandwiched objects 2 is narrow, the double-arm robot 105 can be a robot including the robot hand 113 that can stably hold the sandwiched object 2.

Note that the present embodiment is not limited to the above-described embodiment, and various changes and improvements can be added by those having ordinary knowledge in the art within the technical idea of the present invention. A modification will be described below.
(Modification 1)
In the first embodiment, the curved portion 14f includes two arc portions 14b, and the arc portion 14b on the first base 12 side and the arc portion 14b on the first tip portion 20 side have the same shape. The shape of the curved portion 14f is not limited to this, and may be various shapes. FIG. 18 is a schematic side view showing the structure of a robot hand according to a modification. For example, as shown in FIG. 18 (a), the curved portion 117f of the first rod 117 as the curved rod-shaped member provided in the robot hand 116 has a first base portion 12 side greatly separated from the rotation shaft 117a, and the first tip portion As it approaches 20, the shape approaches the rotating shaft 117a.

  For example, as shown in FIG. 18B, the curved portion 119f of the first rod 119 as the curved rod-shaped member provided in the robot hand 118 has a first tip portion 20 side greatly separated from the rotation shaft 119a, and the first base portion As it approaches 12, the shape approaches the rotating shaft 119a. For example, as shown in FIG. 18 (c), the curved portion 121f of the first rod 121 as the curved rod-shaped member provided in the robot hand 120 has a first base portion 12 side greatly separated from the rotating shaft 121a, and the first tip portion As it approaches 20, the shape approaches the rotating shaft 121a. The curved portion 121f has a shape in which a plurality of linear bars intersect. In addition, the curved portion may be an arc. In this way, the shape of the curved portion 14f may be deformed according to the shape and characteristics of the object 2 to be sandwiched. And it is preferable to make it the shape which can hold | maintain the to-be-clamped object 2 stably. This content can be applied not only to the first rod 14 but also to the second rod 15 to the fourth rod 22. Further, this content can also be applied to the second to fifth embodiments.

  Also in the sixth embodiment, the curved portion 86f includes an arc portion 86b and an arc portion 86d, and the arc portion 86b on the first base portion 12 side and the arc portion 86d on the first end portion 86g side have the same shape. It was. The shape of the curved portion 86f is not limited to this, and may be various shapes. For example, as shown in FIG. 18 (d), the curved portion 123f of the first rod 123 as the curved rod-shaped member provided in the robot hand 122 has a first base portion 12 side greatly away from the rotating shaft 123a, and the first end portion The shape approaches the rotating shaft 123a as it approaches 123g.

  For example, as shown in FIG. 18 (e), the curved portion 125f of the first rod 125 as the curved rod-shaped member provided in the robot hand 124 has a first end portion 125g side greatly separated from the rotation shaft 125a, and the first base portion As it approaches 12, the shape approaches the rotating shaft 125a. For example, as shown in FIG. 18 (f), the curved portion 127f of the first rod 127 as the curved rod-shaped member provided in the robot hand 126 has a first base portion 12 side greatly separated from the rotation shaft 127a, and the first end portion The shape approaches the rotating shaft 127a as it approaches 127g. The curved portion 127f has a shape in which a plurality of linear bars intersect. In addition, the curved portion may be an arc. As described above, the shape of the curved portion 86f may be changed in accordance with the shape and characteristics of the object to be sandwiched 2. And it is preferable to make it the shape which can hold | maintain the to-be-clamped object 2 stably. This content can be applied not only to the first rod 86 but also to the second rod 87 to the fourth rod 89. Furthermore, this content can also be applied to the robot hand 93 in the seventh embodiment.

(Modification 2)
In the first embodiment, the rotation shaft 14a, the rotation shaft 15a, the rotation shaft 21a, and the rotation shaft 22a are parallel to the Z-axis direction. FIG. 19 is a schematic diagram for explaining an inclined rotation axis. FIG. 19A shows the second holding unit 11 in the first embodiment. The rotating shaft 21a and the rotating shaft 22a are parallel to the Z-axis direction. The rotation axis of the bar member does not have to be parallel to the Z-axis direction, and the plurality of bars may not be parallel.

  FIG. 19B to FIG. 19D are diagrams showing a structure of a modified example. In the example shown in FIG. 19B, the third rod 130 and the fourth rod 131 are installed between the horizontal member 13 b and the second tip portion 25. The third rod 130 rotates about the rotation shaft 130a, and the fourth rod 131 rotates about the rotation shaft 131a. The rotation shaft 130a and the rotation shaft 131a are arranged along a virtual plane orthogonal to the position change direction 9d. As for the distance between the rotation shaft 130a and the rotation shaft 131a, the side of the horizontal member 13b is separated from the second tip portion 25 side. When the third rod 130 and the fourth rod 131 rotate, the relative positions of the second base portion 13 and the second tip portion 25 do not change. Therefore, similarly to the second holding portion 11 of the first embodiment, the second tip portion 25 can be advanced to the bottom of the object to be sandwiched 2.

  In the example shown in FIG. 19C, the third rod 132 and the fourth rod 133 are installed between the horizontal member 13 b and the second tip portion 25. The third rod 132 rotates about the rotation shaft 132a, and the fourth rod 133 rotates about the rotation shaft 133a. The rotation shaft 132a and the rotation shaft 133a are arranged along a virtual plane orthogonal to the position change direction 9d. The distance between the rotation shaft 132a and the rotation shaft 133a is closer to the side of the horizontal member 13b than to the second tip portion 25. When the third rod 132 and the fourth rod 133 rotate, the relative position between the second base portion 13 and the second tip portion 25 does not change. Therefore, similarly to the second holding portion 11 of the first embodiment, the second tip portion 25 can be advanced to the bottom of the object to be sandwiched 2.

  In the example shown in FIG. 19D, the third bar 134 and the fourth bar 135 are installed between the horizontal member 13 b and the second tip portion 25. The third rod 134 rotates about the rotation shaft 134a, and the fourth rod 135 rotates about the rotation shaft 135a. The rotation shaft 134a and the rotation shaft 135a are arranged along a virtual plane orthogonal to the position change direction 9d. The rotation shaft 134a and the rotation shaft 135a are parallel to each other and are inclined with respect to the Y-axis direction in which the lateral member 13b extends. When the third rod 134 and the fourth rod 135 rotate, the relative position between the second base portion 13 and the second tip portion 25 does not change. Therefore, similarly to the second holding portion 11 of the first embodiment, the second tip portion 25 can be advanced to the bottom of the object to be sandwiched 2.

(Modification 3)
In the sixth embodiment, the rotation shaft 86a, the rotation shaft 87a, the rotation shaft 88a, and the rotation shaft 89a are parallel to the Z-axis direction. FIG. 20 is a schematic diagram for explaining an inclined rotation axis. FIG. 20A shows the second holding portion 85b in the sixth embodiment. The rotation shaft 88a and the rotation shaft 89a are parallel to the Z-axis direction. The rotation axis of the bar member does not have to be parallel to the Z-axis direction, and the plurality of bars may not be parallel.

  20 (b) to 20 (d) are diagrams showing the structure of a modification. In the example shown in FIG. 20B, a third bar 136 and a fourth bar 137 are installed on the horizontal member 13b. The third rod 136 rotates about the rotation shaft 136a, and the fourth rod 137 rotates about the rotation shaft 137a. The rotation shaft 136a and the rotation shaft 137a are arranged along a virtual plane orthogonal to the position change direction 9d. As for the interval between the rotation shaft 136a and the rotation shaft 137a, the side of the horizontal member 13b is separated from the tip side. When the third rod 136 and the fourth rod 137 rotate, the relative positions of the second base 13 and the tips of the third rod 136 and the fourth rod 137 do not change. Therefore, the tips of the third rod 136 and the fourth rod 137 can be advanced to the bottom of the object to be clamped 2 as in the second holding portion 85b of the sixth embodiment.

  In the example shown in FIG. 20C, a third bar 138 and a fourth bar 139 are installed on the horizontal member 13b. The third rod 138 rotates about the rotation shaft 138a, and the fourth rod 139 rotates about the rotation shaft 139a. The rotation shaft 138a and the rotation shaft 139a are arranged along a virtual plane orthogonal to the position change direction 9d. As for the distance between the rotation shaft 138a and the rotation shaft 139a, the lateral member 13b side is closer to the tip side. When the third rod 138 and the fourth rod 139 rotate, the relative positions of the second base 13 and the tips of the third rod 138 and the fourth rod 139 do not change. Therefore, the tips of the third rod 138 and the fourth rod 139 can be advanced to the bottom of the object to be clamped 2 in the same manner as the second holding portion 85b of the sixth embodiment.

  In the example shown in FIG. 20D, the third rod 140 and the fourth rod 141 are installed on the horizontal member 13b. The third rod 140 rotates about the rotation shaft 140a, and the fourth rod 141 rotates about the rotation shaft 141a. The rotation shaft 140a and the rotation shaft 141a are arranged along a virtual plane orthogonal to the position change direction 9d. The rotation shaft 140a and the rotation shaft 141a are parallel to each other and are inclined with respect to the Y-axis direction in which the lateral member 13b extends. When the third rod 140 and the fourth rod 141 rotate, the relative position between the second base 13 and the tips of the third rod 140 and the fourth rod 141 does not change. Therefore, similarly to the second holding portion 85b of the sixth embodiment, the tip can be advanced to the bottom of the object 2 to be sandwiched.

(Modification 4)
In the first embodiment, the first rod 14 is a round bar, but the cross-sectional shapes of the first rod 14 to the fourth rod 22 are not limited to a circle. It may be a triangle or a rectangle, or a polygon or an ellipse. The cross-sectional shape may be a plurality of shapes. For example, a part of the cross-sectional shape may be a round bar or an ellipse, and a part may be a polygon. And when the 1st stick | rod 14 and the 2nd stick | rod 15 follow the same plane, you may make it become thin. Even when the gap between adjacent sandwiched objects 2 is narrow, the first holding portion 10 can be easily inserted into the gap. This content can be applied not only to the first rod 14 but also to the second rod 15 to the fourth rod 22.

(Modification 5)
In the first embodiment, the coil spring 16 a is used for the first biasing portion 16. A spring other than the coil spring 16a may be used as the urging element. For example, the first urging portion 16 may be a leaf spring or a mainspring spring wound with a leaf spring. A spring that is easy to manufacture may be selected.

(Modification 6)
In the first embodiment, the regulation pin 30 that regulates the rotation of the first rod 14 is provided. When the shape of the coil spring 16a can be processed with high accuracy, the restriction pin 30 may be omitted. Since the number of parts can be reduced, the robot hand 4 can be easily manufactured. This content can be applied to the second urging unit 17 to the fourth urging unit 24.

(Modification 7)
In the first embodiment, the first rod 14 is supported by the two bearings of the first bearing 27 and the second bearing 28. When the first rod 14 can be supported stably even with one bearing, the first rod 14 may be supported only by the first bearing 27. Since the number of parts can be reduced, the robot hand 4 can be easily manufactured. Further, when it is desired to support the first rod 14 more stably, the first rod 14 may be supported by three or more bearings. The first rod 14 can be supported so as not to wobble when rotating. In addition, the content of the modifications 2-5 is applicable also to the said 2nd Embodiment-the said 7th Embodiment.

(Modification 8)
In the first embodiment, the robot hand 4 includes the two holding units, the first holding unit 10 and the second holding unit 11. In the fifth embodiment, the robot hand 73 is provided with the three holding portions of the first holding portion 74 to the third holding portion 76. The number of holding units included in the robot hand may be one or four or more. You may install according to the shape and characteristic of a thing to be clamped. The object to be sandwiched can be stably held. The contents of this modification can also be applied to the second to fourth embodiments, the sixth embodiment, and the seventh embodiment.

(Modification 9)
In the second embodiment, the first rod 35 protrudes in the −Y direction of the rotation shaft 35a, and the third rod 38 also protrudes in the −Y direction of the rotation shaft 38a. The first rod 35 may protrude in the Y direction of the rotation shaft 35a, and the third rod 38 may also protrude in the Y direction of the rotation shaft 38a. Also in this case, the first tip portion 37 and the second tip portion 40 can be inclined by rotating the first rod 35 to the fourth rod 39.

(Modification 10)
In the fourth embodiment, the first tip 20 is connected to the first rod 62 and the second rod 63. The first tip portion 37 described in the second embodiment may be installed in connection with the first rod 62 and the second rod 63. In this case, the same effect as that of the fourth embodiment can be obtained. Further, as shown in the sixth embodiment, the first tip 20 may be omitted. In this case, the same effect as that of the fourth embodiment can be obtained.

(Modification 11)
In the fifth embodiment, the first holding unit 74 to the third holding unit 76 have the same structure as the first holding unit 46 in the second embodiment. Not limited to this, the first holding unit 74 to the third holding unit 76 are the first holding unit 10 described in the first embodiment, and the holding unit described in the third embodiment to the fourth embodiment. The holding unit according to the sixth to seventh embodiments and the holding unit according to the first modification may have the same structure. Also in this case, the robot hand can obtain the same effects as those of the embodiments.

(Modification 12)
In the fifth embodiment, the robot hand 73 is provided with the three holding portions of the first holding portion 74 to the third holding portion 76. The number of holding units installed in one robot hand is not limited to three. Four or more holding units may be installed in one robot hand. You may install according to the shape of a thing to be clamped. Thereby, the robot hand can hold the object to be clamped stably.

(Modification 13)
In the first to seventh embodiments, two bars are installed in one holding portion. The number of bars installed in one holding unit may be three or more. If the number of bars is larger, the object to be clamped 2 can be stably held.

(Modification 14)
In the first embodiment, the first holding unit 10 and the second holding unit 11 are installed in the robot hand 4, and the first holding unit 10 and the second holding unit 11 have similar shapes. The plurality of holding units installed in one robot hand may not have a similar form. For example, the first holding unit 10 of the first embodiment and the second holding unit 47 of the second embodiment may be combined. You may combine the holding | maintenance part as described in the said 1st Embodiment-the said 7th Embodiment and the modification 1. FIG. In addition, you may combine the holding | maintenance part as described in the said 1st Embodiment-the said 7th Embodiment and the modification 1, and the holding | maintenance part different from the holding | maintenance part described in the said embodiment. Also in this case, the holding part described in the above embodiment can have the effects described above. This content can also be applied to a robot hand provided with three or more holding units.

(Modification 15)
In the first embodiment, the surfaces of the first rod 14 to the fourth rod 22 may be covered with a flexible member. As the flexible member, an elastic member such as rubber or a porous member can be used.

(Modification 16)
In the eighth embodiment, the robot hand described in the above embodiment is installed in the robot hand 104 of the scalar robot 100 and the robot hand 113 of the double-arm robot 105. The robot hand described in the above embodiment may be installed in other types of robots. The robot hand described in the above embodiments may be installed in a ceiling-suspended robot, a self-propelled robot, a robot with one actuator, a robot with three or more actuators, or the like. In addition, the robot hand described in the above embodiment may be installed in a processing machine having a robot hand. In this case, the same effect as that of the above embodiment can be obtained.

  2, 77 ... sandwiched object, 4, 34, 51, 61, 66, 73, 85, 93, 104, 113, 116, 118, 120, 122, 124, 126 ... robot hand, 9 ... position changing unit, 10 , 46, 56, 74... First holding portion as holding portion, 11, 47, 57, 75... Second holding portion as holding portion, 12... First base portion as base portion, 13. 14a, 15a, 21a, 22a, 35a, 36a, 38a, 39a, 52a, 53a, 54a, 55a, 86a, 87a, 88a, 89a, 94a, 95a, 96a, 97a, 117a, 119a, 121a, 123a, 125a , 127a... Rotating shaft, 14f, 15f, 21f, 22f, 35f, 36f, 38f, 39f, 52f, 53f, 54f, 55f, 86f, 87f, 88f, 9f, 94f, 96f, 97f, 117f, 119f, 121f, 123f, 125f, 127f ... music part, 14, 35, 52, 62, 67, 78, 86, 94, 117, 119, 121, 123, 125, 127 ... 1st rod as a curved rod-shaped member, 15, 36, 53, 63, 68, 79, 87, 95 ... 2nd rod as a curved rod-shaped member, 16a ... Coil spring as a spring, 16 ... As an urging portion 1st urging part, 17 ... 2nd urging part as urging part, 19a, 19b ... Virtual plane, 20, 37 ... 1st front-end | tip part as a front-end | tip part, 21, 38, 54, 88, 96 ... music Third rod as rod-shaped member, 22, 39, 55, 89 ... Fourth rod as curved rod-shaped member, 23 ... Third biasing portion as biasing portion, 24 ... Fourth biasing portion as biasing portion , 25, 40... Second tip as a tip, 27 1st bearing as bearing, 28 ... 2nd bearing as bearing, 41 ... joint part, 61a, 66a ... holding part, 76 ... 3rd holding part as holding part, 80 ... tip part, 81 ... base part, 84 ... Robot, 85a, 93a ... first holding portion, 85b, 93b ... second holding portion, 86d ... arc portion, 89e ... straight portion, 97 ... fourth rod as a curved rod-like member.

Claims (13)

A robot hand that holds a holding object with an object to be sandwiched therebetween,
The holding portion includes a base portion,
A plurality of curved rod-like members installed on the base and capable of rotating around a rotation axis;
The plurality of curved rod-shaped members are rotated from a virtual plane including the plurality of rotating shafts by the reaction force from the sandwiched object due to the holding portion sandwiching the sandwiched material, and one of the curved rod-shaped members. A robot hand characterized in that a part holds the object to be clamped. A robot hand that holds a holding object with an object to be sandwiched therebetween,
The holding portion includes a base portion,
A plurality of curved rod-like members installed on the base and capable of rotating around a rotation axis;
A rod-shaped tip portion installed at the tip of the plurality of curved rod-shaped members,
The plurality of curved rod-shaped members rotate from a virtual plane including a plurality of the rotation shafts by the reaction force from the object to be clamped by the holding unit sandwiching the object to be clamped, and the tip portion or the curve A robot hand, wherein a part of the rod-like member holds the object to be clamped. The robot hand according to claim 2,
The robot hand according to claim 1, wherein the rotation axis intersects the base portion and the tip portion of the holding portion. The robot hand according to claim 1 or 2,
The robot hand according to claim 1, wherein the pivot shaft intersects the base portion of the holding portion and the bent portion of the bent rod-like member. The robot hand according to any one of claims 1 to 4,
The robot hand according to claim 1, wherein when the curved rod-like member has a bow shape, the rotation shaft has a virtual shape corresponding to a string. The robot hand according to any one of claims 1 to 5,
The robot hand according to claim 1, wherein the holding unit includes a biasing unit that biases the curved rod-shaped member so as to follow the virtual plane including the plurality of rotation shafts. The robot hand according to claim 6,
The biasing portion includes a spring;
A robot hand characterized in that the spring biases the rotation of the curved rod-like member. The robot hand according to any one of claims 1 to 7,
A robot hand, wherein a plurality of the curved rod-shaped members intersect when the plurality of curved rod-shaped members follow a virtual plane including the plurality of rotation axes. The robot hand according to any one of claims 3 to 8,
The robot hand according to claim 1, wherein the base portion includes a plurality of bearings for rotatably supporting the curved rod-shaped member in one curved rod-shaped member. The robot hand according to any one of claims 2 to 9,
A joint portion connects the bent rod-shaped member and the tip portion so as to be bendable,
The robot hand according to claim 1, wherein the curved rod-like member and the tip end part rotate about two axes intersecting with each other via the joint part.
The robot hand according to any one of claims 1 to 10,
A wrist joint connected to the robot hand, a link connected to the wrist joint, a main body, and a shoulder joint connected to the main body and the link. robot. A robot hand for holding a sandwiched object,
A holding unit for holding the object to be sandwiched;
A position changing unit for changing the position of the holding unit;
A plurality of curved rod-like members that are installed in the holding portion and are rotatable about a rotation axis;
The position changing unit narrows the interval between the plurality of holding units,
A plurality of the holding parts sandwich the object to be clamped,
The robot hand characterized in that the plurality of curved rod-like members are rotated from a virtual plane including the plurality of pivot shafts, and a part of the curved rod-like member is held so as to follow the surface of the object to be sandwiched. . A holding method in which the robot hand holds the object to be clamped,
A plurality of curved rod-shaped members that can rotate around a rotation axis are installed on a virtual plane including the plurality of rotation axes, and the robot hand is moved so that the object to be clamped is positioned between a plurality of holding portions. A first robot hand moving step,
A position changing unit narrows a relative distance between the plurality of holding units, brings the curved rod-shaped member into contact with the sandwiched object, and rotates the curved rod-shaped member by a reaction force from the sandwiched object. A holding start step for holding the bent rod-shaped member so as to support the object to be clamped;
A second robot hand moving step of moving the robot hand while holding the object to be clamped;
A holding end step in which the position changing unit moves the holding unit to widen the distance between the holding units to separate the curved rod-shaped member and the object to be clamped to finish holding the object to be clamped; A holding method for holding an object to be clamped by a robot.

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