JP2017087367A - Grasping device - Google Patents

Grasping device Download PDF

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JP2017087367A
JP2017087367A JP2015221976A JP2015221976A JP2017087367A JP 2017087367 A JP2017087367 A JP 2017087367A JP 2015221976 A JP2015221976 A JP 2015221976A JP 2015221976 A JP2015221976 A JP 2015221976A JP 2017087367 A JP2017087367 A JP 2017087367A
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Prior art keywords
gripping
unit
output
force
elastic body
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JP6682074B2 (en
Inventor
哲也 毛利
Tetsuya Mori
哲也 毛利
晴久 川▲崎▼
Haruhisa Kawasaki
晴久 川▲崎▼
中村　一也
Kazuya Nakamura
一也 中村
保幸 小林
Yasuyuki Kobayashi
保幸 小林
森　賢一
Kenichi Mori
賢一 森
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Namiki Precision Jewel Co Ltd
Gifu University NUC
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Namiki Precision Jewel Co Ltd
Gifu University NUC
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Priority to JP2015221976A priority Critical patent/JP6682074B2/en
Priority to PCT/JP2016/082263 priority patent/WO2017082101A1/en
Publication of JP2017087367A publication Critical patent/JP2017087367A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

PROBLEM TO BE SOLVED: To maintain grasping force sufficiently even after driving force is cut off.SOLUTION: A grasping device A is configured to allow an object B to be grasped to be grasped and released between a plurality of grasping units 2 by opening and closing a space between the grasping units 2. At least one of the plurality of grasping units 2 is provided with: a one-way power transmission mechanism 44 that can transmit driving force of an input portion 44a to an output portion 44b and cannot transmit driving force of the output portion 44b to the input portion 44a; a driving source 42 that imparts driving force to the input portion 44a; a first operation portion 10 that is moved in a direction of the opening and closing by the driving force of the output portion 44b; and an elastic body 20 provided at a part near the closing direction of the first operation portion 10 so as to be pressed against the object B to be grasped.SELECTED DRAWING: Figure 1

Description

本発明は、把持対象物を挟むようにして把持する把持装置に関するものである。   The present invention relates to a gripping device that grips a gripping target object.

従来、この種の発明には、例えば特許文献１に記載されるもののように、複数の指体を備えたロボットハンドがある。このロボットハンドは、各指体を構成する複数のリンクや、隣接するリンク間のギアや減速機、モータ等を備え、前記モータの駆動によって各指体を曲げたり伸ばしたりするようにしている。   Conventionally, in this type of invention, there is a robot hand provided with a plurality of fingers, for example, as described in Patent Document 1. This robot hand includes a plurality of links constituting each finger, gears between the adjacent links, a reduction gear, a motor, and the like, and each finger is bent or stretched by driving the motor.

特開２００７−１５２５２８号公報JP 2007-152528 A

ところで、前記従来技術によれば、複数の指体によって把持対象物を把持した場合、その把持状態を維持するには、前記モータへの電力供給を継続する必要がある。
そこで、従来構造の把持装置に対し、ブレーキ等の係止手段や、無通電位置保持機構などを具備して、無通電状態でも把持力を維持することが考えられる。
しかしながら、このような把持装置では、電力供給を遮断した後は、把持装置自体の弾性により把持対象物を把持しなければならず、十分な把持力を得るためには工夫を要する。 By the way, according to the prior art, when a gripping target is gripped by a plurality of fingers, it is necessary to continue power supply to the motor in order to maintain the gripping state.
Therefore, it is conceivable to maintain the gripping force even in a non-energized state by providing a conventional gripping device with a locking means such as a brake, a non-energized position holding mechanism, and the like.
However, in such a gripping device, after the power supply is cut off, the gripping target object must be gripped by the elasticity of the gripping device itself, and some effort is required to obtain a sufficient gripping force.

このような課題に鑑みて、本発明は、以下の構成を具備するものである。
複数の把持ユニットの間を開閉させて、これら把持ユニット間で把持対象物を把持したり解放したりする把持装置において、前記複数の把持ユニットのうちの少なくとも一つには、駆動源側から入力部に加わる駆動力を出力部に伝達可能であって且つ出力側から前記出力部に力が加わった際には前記出力部をロックする一方向動力伝達機構と、前記入力部に駆動力を付与する駆動源と、前記出力部の駆動力により前記開閉の方向へ移動する動作部と、把持対象物に押圧されるように前記動作部の閉方向側の部分に設けられた弾性体と、が具備されていることを特徴とする把持装置。 In view of such problems, the present invention has the following configuration.
In a gripping device that opens and closes between a plurality of gripping units and grips or releases a gripping object between the gripping units, at least one of the plurality of gripping units is input from a drive source side A driving force applied to the output unit can be transmitted to the output unit, and when the force is applied from the output side to the output unit, a one-way power transmission mechanism that locks the output unit, and a driving force applied to the input unit A driving source that moves, an operating unit that moves in the opening and closing direction by the driving force of the output unit, and an elastic body that is provided in a portion on the closing direction side of the operating unit so as to be pressed by a gripping object. A gripping device comprising the gripping device.

本発明は、以上説明したように構成されているので、駆動力が遮断された後であっても把持力を十分に維持することができる。   Since the present invention is configured as described above, the gripping force can be sufficiently maintained even after the driving force is interrupted.

本発明に係る把持装置の一例を示す構造図である。It is a structural diagram showing an example of a gripping device according to the present invention. 一方向動力伝達機構及び調速機構等の一例を示す断面図である。It is sectional drawing which shows an example of a one-way power transmission mechanism, a speed control mechanism, etc. 図２における(III)-(III)線に沿う断面図である。It is sectional drawing which follows the (III)-(III) line | wire in FIG. 図２における(IV)-(IV)線に沿う断面図である。It is sectional drawing which follows the (IV)-(IV) line in FIG. 一方向動力伝達機構の動作説明図である。It is operation | movement explanatory drawing of a one-way power transmission mechanism.

本実施の形態の特徴の一つは、複数の把持ユニットの間を開閉させて、これら把持ユニット間で把持対象物を把持したり解放したりする把持装置において、前記複数の把持ユニットのうちの少なくとも一つには、駆動源側から入力部に加わる駆動力を出力部に伝達可能であって且つ出力側から前記出力部に力が加わった際には前記出力部をロックする一方向動力伝達機構と、前記入力部に駆動力を付与する駆動源と、前記出力部の駆動力により前記開閉の方向へ移動する動作部と、把持対象物に押圧されるように前記動作部の閉方向側の部分に設けられた弾性体と、が具備されている。
ここで、前記「複数の把持ユニット」には、これら複数の把持ユニットの全部がそれぞれ動作して、これら把持ユニット間が開閉するようにした態様や、これら複数の把持ユニットのうちの一部の把持ユニットのみが動作するとともに他の把持ユニットが不動に固定され、前記一部の把持ユニットと前記他の把持ユニットとの間が開閉するようにした態様等を含む。
また、前記「一方向動力伝達機構」には、回転運動により一方向へ駆動力を伝達する態様や、直線運動により一方向へ駆動力を伝達する態様、回転運動と直線運動の双方により駆動力を一方向へ伝達する態様等を含む。
前記構成によれば、前記駆動源の駆動力により前記把持ユニットを閉鎖動作させ、複数の把持ユニット間に把持対象物を把持した際、弾性体が把持ユニットの動作部と把持対象部との間に押圧されて弾性変形する。この後、前記駆動源の駆動力が遮断した場合には、一方向動力伝達機構により逆方向の動作が阻止され、前記弾性体の復元力により把持対象物を把持した状態が維持される。 One of the features of the present embodiment is that a gripping device that opens and closes a plurality of gripping units to grip and release a gripping object between the gripping units, At least one is a one-way power transmission that can transmit the driving force applied to the input unit from the drive source side to the output unit and lock the output unit when force is applied to the output unit from the output side. A mechanism, a driving source for applying a driving force to the input unit, an operating unit that moves in the opening / closing direction by the driving force of the output unit, and a closing direction side of the operating unit so as to be pressed by a grasped object And an elastic body provided in the portion.
Here, in the “plurality of gripping units”, all of the plurality of gripping units respectively operate to open and close between the gripping units, and some of the plurality of gripping units. It includes a mode in which only the gripping unit operates and other gripping units are fixedly fixed so that the part of the gripping units and the other gripping units are opened and closed.
The “one-way power transmission mechanism” includes a mode in which a driving force is transmitted in one direction by rotational motion, a mode in which the driving force is transmitted in one direction by linear motion, and a driving force by both rotational motion and linear motion. Including a mode of transmitting the signal in one direction.
According to the above configuration, when the gripping unit is closed by the driving force of the drive source and the gripping object is gripped between the plurality of gripping units, the elastic body is between the operation unit and the gripping target part of the gripping unit. Is elastically deformed by being pressed. Thereafter, when the driving force of the driving source is interrupted, the backward movement is blocked by the one-way power transmission mechanism, and the gripping object is held by the restoring force of the elastic body.

他の特徴として、より効果的に弾性力を得るために、前記弾性体は、前記把持ユニットのバックラッシュによる変位量よりも大きく弾性変形するように形成されている。   As another feature, in order to obtain an elastic force more effectively, the elastic body is formed to be elastically deformed to be larger than a displacement amount due to backlash of the gripping unit.

他の特徴として、より効果的に弾性力を得るために、前記弾性体は、予め設定された押圧力が前記弾性体よりも駆動源側に加わった際に生じる前記把持ユニットの弾性変形の量よりも大きく弾性変形するように形成されている。   As another feature, in order to obtain an elastic force more effectively, the elastic body is an amount of elastic deformation of the gripping unit that occurs when a preset pressing force is applied to the drive source side of the elastic body. It is formed so as to be elastically deformed to a greater extent.

他の特徴として、前記一方向動力伝達機構は、円柱状空間を有する収納室と、前記収納室に同軸状に回転するように収納された前記出力部と、前記出力部に対し同軸状に回転するように係合した前記入力部と、前記収納室の内周面と出力部の外周面との間に設けられた係合子と、前記係合子を周方向の一方側へ付勢する付勢部材とを備え、前記出力部の外周面に、前記一方側へ向かって前記収納室の内周面との間を徐々に狭めるカム面を形成し、前記入力部が前記一方側に対する他方側に回転した際に、前記入力部を前記係合子に当接した後に、同入力部を前記出力部に当接して前記出力部を押動するように構成されている（図３及び図５参照）。   According to another feature, the one-way power transmission mechanism includes a storage chamber having a columnar space, the output unit stored in the storage chamber so as to rotate coaxially, and the coaxial rotation with respect to the output unit. The input portion engaged so as to engage, an engagement member provided between the inner peripheral surface of the storage chamber and the outer peripheral surface of the output portion, and a biasing force for biasing the engagement member to one side in the circumferential direction A cam surface that gradually narrows the space between the output portion and the inner peripheral surface of the storage chamber toward the one side, and the input portion is on the other side with respect to the one side. When rotating, the input unit is configured to abut on the engagement element, and then the input unit is configured to abut on the output unit to push the output unit (see FIGS. 3 and 5). .

＜具体的実施態様＞
次に、上記特徴を有する具体的な実施態様について、図面に基づいて詳細に説明する。
図１は、本発明に係る把持装置の一例を示す構造図である。
この把持装置Ａは、ベース部材１と、該ベース部材１に支持された複数（図示例によれば二つ）の把持ユニット２とを備え、複数の把持ユニット２の間を開閉させて、これら把持ユニット２の間で把持対象物Ｂを把持したり解放したりする。 <Specific Embodiment>
Next, specific embodiments having the above characteristics will be described in detail with reference to the drawings.
FIG. 1 is a structural diagram showing an example of a gripping device according to the present invention.
The gripping device A includes a base member 1 and a plurality of (in the illustrated example, two) gripping units 2 supported by the base member 1, and opens and closes between the plurality of gripping units 2. The gripping object B is gripped or released between the gripping units 2.

ベース部材１は、その一端側と他端側に、それぞれ、後述する把持ユニット２の基端側の部分を有する。
このベース部材１は、例えば、筒状の中空部材や、枠状部材、長尺板状の部材、その他の構造の部材とすることが可能である。 The base member 1 has a proximal end portion of a gripping unit 2 described later on one end side and the other end side, respectively.
The base member 1 can be, for example, a cylindrical hollow member, a frame-shaped member, a long plate-shaped member, or another structural member.

各把持ユニット２は、該把持ユニット２の先端側で開閉方向へ移動する第１の動作部１０と、第１の動作部１０の閉方向側の部分に設けられた弾性体２０と、第１の動作部１０の基端側を回転可能に支持するとともにベース部材１に対し回動するように支持された第２の動作部３０と、第１の動作部１０を動作させるための駆動源４２を有する第１の駆動源ユニット４０と、第１の駆動ユニット４０の駆動力を第１の動作部１０に伝達する第１の動力伝達機構５０と、第２の動作部３０を動作させるための駆動源６２を有する第２の駆動源ユニット６０と、第２の駆動源ユニット６０の駆動力を第２の動作部３０に伝達する第２の動力伝達機構７０とを具備している。   Each gripping unit 2 includes a first operating unit 10 that moves in the opening / closing direction on the distal end side of the gripping unit 2, an elastic body 20 provided in a portion on the closing direction side of the first operating unit 10, and a first A second operating unit 30 that rotatably supports the base end side of the operating unit 10 and rotates with respect to the base member 1, and a drive source 42 for operating the first operating unit 10. The first drive source unit 40 having the first drive unit 40, the first power transmission mechanism 50 that transmits the driving force of the first drive unit 40 to the first operation unit 10, and the second operation unit 30 are operated. A second drive source unit 60 having a drive source 62 and a second power transmission mechanism 70 that transmits the driving force of the second drive source unit 60 to the second operation unit 30 are provided.

第１の動作部１０は、長尺状の一片部１１ａと該一片部１１ａに対し略へ字状に曲がって接続された短尺状の他片部１１ｂとからなる可動アーム１１と、前記一片部１１ａに略平行に設けられたパラレルリンク１２と、これら可動アーム１１及びパラレルリンク１２の先端側に設けられた受け部材１３とを具備している。
可動アーム１１における基端側は、一片部１１ａと他片部１１ｂの交差する部分が、第２の動作部３０の先端側に回転自在に支持され、他片部１１ｂの先端側が、後述する第１の動力伝達機構５０の先端側に回転自在に支持されている。
また、パラレルリンク１２の基端側は、第２の動作部３０の先端側に回転自在に支持されている。 The first operating part 10 includes a movable arm 11 composed of a long piece 11a and a short piece 11b which is connected to the piece 11a so as to be bent substantially in the shape of a letter. The parallel link 12 provided substantially parallel to 11a and the receiving member 13 provided on the distal end side of the movable arm 11 and the parallel link 12 are provided.
The base end side of the movable arm 11 is such that a portion where the one piece portion 11a and the other piece portion 11b intersect is rotatably supported by the tip end side of the second operating portion 30, and the tip end side of the other piece portion 11b is a first one described later. The power transmission mechanism 50 is supported at the front end side of the power transmission mechanism 50 in a freely rotatable manner.
Further, the proximal end side of the parallel link 12 is rotatably supported on the distal end side of the second operation unit 30.

受け部材１３は、弾性体２０を受ける面を平坦面状に形成するとともに、その逆側の部分が、一片部１１ａの先端部に回転自在に支持され、さらに、パラレルリンク１２の先端部にも回転自在に支持されている。
この受け部材１３、可動アーム１１及びパラレルリンク１２は、いわゆる平行クランク機構を構成しており、可動アーム１１およびパラレルリンク１２を第２の動作部３０に対し回動させて、弾性体２０を移動させた際に、その移動の前後の弾性体２０の受け面が平行になるようにしている。 The receiving member 13 has a flat surface to receive the elastic body 20, and the opposite side portion is rotatably supported by the tip portion of the one-piece portion 11 a. It is supported rotatably.
The receiving member 13, the movable arm 11 and the parallel link 12 constitute a so-called parallel crank mechanism, and the movable body 11 and the parallel link 12 are rotated with respect to the second operation unit 30 to move the elastic body 20. When this is done, the receiving surface of the elastic body 20 before and after the movement is made parallel.

また、弾性体２０は、受け部材１３の前記受け面に固定された平坦状の部材である。この弾性体２０は、例えば、ニトリルゴムや、シリコン樹脂、ウレタン樹脂等、適宜な弾性を有し、且つ把持対象物Ｂを滑らせないように適宜な摩擦係数の材料が選定される。
この弾性体２０は、把持ユニット２全体のバックラッシュによる変位量と、予め設定された一定の押圧力が弾性体２０よりも駆動源側に加わった際に生じる把持ユニット２全体の弾性変形の量と、を加えた変化量よりも大きい必要最小限の弾性変形をするように、弾性率が適宜に設定されている。
前記バックラッシュは、可動アーム１１やパラレルリンク１２の前後の接続箇所や、後述する第１の動力伝達機構５０の各接続箇所および歯車間等に生じる極僅かな隙間やがたつき等に起因するものである。
把持ユニット２の前記弾性変形の量とは、把持ユニット２を構成する各部材（前述した可動アーム１１やパラレルリンク１２等を含む）の全体の弾性変形の量である。前記各部材は、主に金属材料であるが、弾性的な撓みを含む若干の弾性変形をする。
また、前記「予め設定された押圧力」とは、弾性体２０を外した状態で左右の受け部材１３間に把持対象物Ｂを把持した場合に、把持対象物Ｂが容易に滑り落ちることのない必要最小限の押圧力であり、予め実験または計算によって求められた一定の押圧力である。この押圧力は、予定される把持対象物Ｂの重量や形状、被把持部位の摩擦係数等に応じて、異なる値になる。 The elastic body 20 is a flat member fixed to the receiving surface of the receiving member 13. For this elastic body 20, for example, a material having an appropriate friction coefficient such as nitrile rubber, silicon resin, urethane resin, or the like and having an appropriate friction coefficient so as not to slide the object to be grasped B is selected.
The elastic body 20 has an amount of displacement due to backlash of the entire gripping unit 2 and an amount of elastic deformation of the entire gripping unit 2 that occurs when a predetermined pressing force is applied to the drive source side of the elastic body 20. The elastic modulus is appropriately set so that the minimum necessary elastic deformation larger than the change amount obtained by adding
The backlash is caused by a very small gap or rattling that occurs between the connection positions of the movable arm 11 and the parallel link 12 before and after, each connection position of the first power transmission mechanism 50 described later, and between the gears, and the like. Is.
The amount of elastic deformation of the gripping unit 2 is the amount of elastic deformation of the entire members (including the movable arm 11 and the parallel link 12 described above) constituting the gripping unit 2. Each of the members is mainly a metal material, but undergoes some elastic deformation including elastic bending.
The “preset pressing force” means that the gripping object B does not slide down easily when the gripping object B is gripped between the left and right receiving members 13 with the elastic body 20 removed. This is the minimum pressing force required, and is a constant pressing force obtained in advance by experiment or calculation. This pressing force becomes a different value depending on the weight and shape of the grasped object B to be planned, the friction coefficient of the grasped part, and the like.

仮に第１の動作部１０（例えば、ロボットの指）の移動分解能を０．１ｍｍとし、弾性体２０を省いた把持ユニット２を用いて、把持対象物Ｂを１０Ｎの把持力で把持した際の把持ユニット２全体の弾性変形量が０．０１ｍｍである場合には、把持力（指先力）を調整するために逆方向へ指を移動すると、把持対象物Ｂは落下する。
しかしながら、受け部材１３に弾性体２０を取り付け、前記把持力（１０Ｎ）を受けた場合に弾性変形量が１ｍｍとなるように弾性体２０を設計しておけば、把持力を１０％刻みで調整可能となり、把持対象物Ｂの落下も防ぐことができる。
なお、把持装置（図示例によれば、把持装置Ａ）が安定的に把持対象物を把持するためには、（把持対象物を把持したときの弾性体２０の弾性変形量 - 振動による受け部材の位置変動）／ 弾性体２０の弾性率 ＞ 把持対象物Ｂの把持に必要な力、把持力 × 弾性体２０の弾性率 ＞ 第１の動作部１０（例えば、ロボットの指）の移動分解能 の２つの条件を満たす必要がある。
また、把持力の調整可能分解能は、把持力×弾性体２０の弾性率／動作部（図示例によれば、第１の動作部１０）の移動分解能で計算できる。把持対象物Ｂを落下させずに把持力を調整可能とするためには、把持力の調整可能分解能を１未満にする必要があるが、弾性体２０の弾性率を適切に設定することにより、安定的に把持対象物Ｂを把持し続けるとともに、把持力の調整可能分解能を調整することが可能となる。
また、当該把持装置Ａでは、把持ユニット２全体の弾性変形量に加えバックラッシュも考慮して、上述したように弾性体２０の弾性率を設定している。 Temporarily, the moving resolution of the 1st operation | movement part 10 (for example, a robot finger) shall be 0.1 mm, and the holding | grip target object B was hold | gripped with the holding force of 10N using the holding | grip unit 2 which excluded the elastic body 20. When the amount of elastic deformation of the entire gripping unit 2 is 0.01 mm, the gripping object B falls when the finger is moved in the opposite direction to adjust the gripping force (fingertip force).
However, if the elastic body 20 is designed so that the elastic deformation amount is 1 mm when the elastic body 20 is attached to the receiving member 13 and the gripping force (10 N) is received, the gripping force is adjusted in steps of 10%. This makes it possible to prevent the gripping object B from falling.
In order for the gripping device (in the illustrated example, the gripping device A) to grip the gripping object stably, the amount of elastic deformation of the elastic body 20 when gripping the gripping object-a receiving member due to vibration Of the elastic body 20> the elastic modulus of the elastic body 20> the force necessary for gripping the object to be grasped B, the gripping force x the elastic modulus of the elastic body 20> the moving resolution of the first operating unit 10 (for example, the finger of the robot) Two conditions must be met.
Further, the adjustable resolution of the gripping force can be calculated by gripping force × elastic modulus of the elastic body 20 / moving resolution of the operating unit (in the illustrated example, the first operating unit 10). In order to be able to adjust the gripping force without dropping the gripping object B, it is necessary to make the adjustable resolution of the gripping force less than 1, but by appropriately setting the elastic modulus of the elastic body 20, It is possible to stably hold the gripping object B and to adjust the adjustable resolution of the gripping force.
Further, in the gripping apparatus A, the elastic modulus of the elastic body 20 is set as described above in consideration of backlash in addition to the elastic deformation amount of the entire gripping unit 2.

また、第２の動作部３０は、先端側に第１の動作部１０の基端側を支持する長尺状の支持片部３１と、該支持片部３１の基端側に一体状に接続されるとともに略Ｌ字状に曲げられた形状の基片部３２とを具備している。   The second operating unit 30 is integrally connected to the elongate support piece 31 supporting the proximal end side of the first operating unit 10 on the distal end side and the proximal end side of the support piece 31. And a base piece 32 bent into a substantially L shape.

支持片部３１は、その先端側に、パラレルリンク１２の基端側を回転自在に支持し、さらに先端側には、可動アーム１１における一片部１１ａと他片部１１ｂが交差する部分を回転自在に支持している。
そして、この支持片部３１には、後述する第１の駆動源ユニット４０及び第１の動力伝達機構５０等が支持されている。 The support piece portion 31 rotatably supports the proximal end side of the parallel link 12 on the distal end side, and further, on the distal end side, a portion where the one piece portion 11a and the other piece portion 11b of the movable arm 11 intersect is rotatable. I support it.
The support piece portion 31 supports a first drive source unit 40 and a first power transmission mechanism 50 which will be described later.

基片部３２は、支持片部３１の基端側に接続された一片部３２ａと、後述する第２の動力伝達機構７０に接続された他片部３２ｂとなる略Ｌ字状に形成され、これら一片部３２ａと他片部３２ｂの交差部分が、ベース部材１に対し支持ブラケット１ａ等を介して回転自在に支持されている。   The base piece portion 32 is formed in a substantially L-shape that becomes one piece portion 32a connected to the base end side of the support piece portion 31 and another piece portion 32b connected to a second power transmission mechanism 70 described later. The intersecting portion of the one piece portion 32a and the other piece portion 32b is rotatably supported by the base member 1 via a support bracket 1a or the like.

また、第１の駆動源ユニット４０は、円筒状のケース４１内に、回転駆動力を発生する駆動源４２と、該駆動源４２の回転力を調整して伝達する調速機構４３と、駆動源側から入力部４４ａに加わる駆動力を出力部４４ｂに伝達可能であって且つ出力側（具体的には第１の動力伝達機構５０側）から出力部４４ｂに力が加わった際には出力部４４ｂをロックする一方向動力伝達機構４４とを具備している（図１及び図２参照）。   The first drive source unit 40 includes a cylindrical case 41, a drive source 42 that generates a rotational drive force, a speed adjusting mechanism 43 that adjusts and transmits the rotational force of the drive source 42, and a drive. A driving force applied to the input unit 44a from the source side can be transmitted to the output unit 44b, and an output is generated when a force is applied to the output unit 44b from the output side (specifically, the first power transmission mechanism 50 side). And a one-way power transmission mechanism 44 that locks the portion 44b (see FIGS. 1 and 2).

駆動源４２は、出力軸４２ａを前方へ突出させた電動の回転式モータである。この駆動源４２の具体例としては、回転角を制御するようにしたステッピングモータや、ＤＣブラシレスモータ等が挙げられる。   The drive source 42 is an electric rotary motor with an output shaft 42a protruding forward. Specific examples of the drive source 42 include a stepping motor that controls the rotation angle, a DC brushless motor, and the like.

調速機構４３は、入力部４４ａの中心軸周りに複数配設され各々が自転する複数の第１の遊星歯車４３ａと、これら第１の遊星歯車４３ａに対し中央側から噛み合う太陽歯車４３ｂと、該太陽歯車４３ｂの軸方向の後端側に固定された支持回転体４３ｃと、該支持回転体４３ｃの後端面において中心軸周りに複数配設されそれぞれが自転する第２の遊星歯車４３ｄ（連接遊星歯車）と、第１及び第２の遊星歯車４３ａ，４３ｄに噛み合うケース４１内周面の内歯車４１ｂとを具備して、遊星歯車機構を構成している（図２及び図４参照）。
そして、この調速機構４３は、駆動源４２の出力軸４２ａから支持回転体４３ｃに伝達される回転力を、予め設定された適宜な比率で減速し、一方向動力伝達機構４４の入力部４４ａに伝達する。 A plurality of speed control mechanisms 43 are arranged around the central axis of the input portion 44a and each of the first planetary gears 43a rotates, and a sun gear 43b that meshes with the first planetary gears 43a from the center side. A support rotator 43c fixed on the rear end side in the axial direction of the sun gear 43b, and a second planetary gear 43d (connected) that is arranged around the central axis on the rear end surface of the support rotator 43c and rotates around the center axis. (Planetary gear) and an internal gear 41b on the inner peripheral surface of the case 41 meshing with the first and second planetary gears 43a and 43d constitute a planetary gear mechanism (see FIGS. 2 and 4).
The speed adjusting mechanism 43 decelerates the rotational force transmitted from the output shaft 42 a of the drive source 42 to the support rotating body 43 c at an appropriate ratio set in advance, and the input portion 44 a of the one-way power transmission mechanism 44. To communicate.

一方向動力伝達機構４４は、図２、図３および図５に示すように、ケース４１の軸方向前端側の収納室４１ａ内に、該収納室４１ａと同軸状に回転するように設けられた円形状の出力部４４ｂと、出力部４４ｂに対し同軸状に係合した円形状の入力部４４ａと、ケース４１内周面と入力部４４ａの外周面との間に位置する一対の係合子４４ｃ，４４ｄと、一方の係合子４４ｃを周方向の一方側（図３によれば時計方向側）へ付勢するとともに他方の係合子４４ｄを周方向の他方側（図３によれば反時計方向側）へ付勢する付勢部材４４ｇ（図示例によれば略Ｙ字状の板バネ）とを具備してなる。
そして、この一方向動力伝達機構４４は、調速機構４３から、入力部４４ａに回転力を受けた際に、この回転力を出力部４４ｂに伝達して出力部４４ｂを回転させ、また、出力部４４ｂに対し出力側（後述する第１の動力伝達機構５０側）から回転力が加わった際には、該出力部４４ｂを回転不能にロックする。 As shown in FIGS. 2, 3, and 5, the one-way power transmission mechanism 44 is provided in the storage chamber 41a on the axial front end side of the case 41 so as to rotate coaxially with the storage chamber 41a. A circular output portion 44b, a circular input portion 44a engaged coaxially with the output portion 44b, and a pair of engaging members 44c positioned between the inner peripheral surface of the case 41 and the outer peripheral surface of the input portion 44a , 44d, and one engaging element 44c to one side in the circumferential direction (clockwise according to FIG. 3) and the other engaging element 44d to the other side in the circumferential direction (counterclockwise according to FIG. 3). 44g (a substantially Y-shaped leaf spring according to the illustrated example).
The one-way power transmission mechanism 44, when receiving rotational force from the speed adjusting mechanism 43 to the input unit 44a, transmits this rotational force to the output unit 44b to rotate the output unit 44b. When a rotational force is applied to the portion 44b from the output side (first power transmission mechanism 50 side described later), the output portion 44b is locked so as not to rotate.

詳細に説明すれば、入力部４４ａが、例えば、図５に示すように、反時計方向へ回転した場合には、入力部４４ａのブロック状の押圧伝達部４４ａ１が、先ず一方の係合子４４ｃに当接することで、該係合子４４ｃと出力部４４ｂ外周側の傾斜状のカム面４４ｅとの摩擦、および該係合子４４ｃとケース４１内周面との摩擦が小さくなり、その後で、押圧伝達部４４ａ１が出力部４４ｂ外周側の凹部４４ｂ２内の側面に当接して出力部４４ｂを押動するため、出力部４４ｂが反時計方向へスムーズに回転する。
また、入力部４４ａに時計方向の回転力が加わった場合には、図示を省略するが、前述したのと逆方向への移動、当接、押動等によって、出力部４４ｂが時計方向へスムーズに回転する。 More specifically, when the input portion 44a rotates counterclockwise as shown in FIG. 5, for example, the block-shaped press transmission portion 44a1 of the input portion 44a is first connected to one engaging member 44c. By abutting, the friction between the engaging element 44c and the inclined cam surface 44e on the outer peripheral side of the output part 44b and the friction between the engaging element 44c and the inner peripheral surface of the case 41 are reduced. Since 44a1 contacts the side surface in the recess 44b2 on the outer peripheral side of the output part 44b and pushes the output part 44b, the output part 44b smoothly rotates counterclockwise.
Further, when a clockwise rotational force is applied to the input unit 44a, the output unit 44b is smoothly rotated clockwise by movement, contact, pushing, etc. in the reverse direction as described above, although illustration is omitted. Rotate to.

また、出力部４４ｂに、その出力側（第１の動力伝達機構５０側）から、例えば時計方向の回転力が加わった場合には、時計方向へ回転しようとする出力部４４ｂの他方のカム面４４ｆと収納室４１ａ内周面との間に、他方の係合子４４ｄが食い込むようにして強く押し付けられるため、出力部４４ｂの時計方向への回転が阻まれる。
同様にして、出力部４４ｂに、第１の動力伝達機構５０側から、例えば反時計方向の回転力が加わった場合には、反時計方向へ回転しようとする出力部４４ｂの一方のカム面４４ｅと収納室４１ａ内周面との間に、一方の係合子４４ｃが食い込むようにして強く押し付けられるため、出力部４４ｂの反時計方向への回転が阻まれる。 Further, for example, when a clockwise rotational force is applied to the output unit 44b from the output side (the first power transmission mechanism 50 side), the other cam surface of the output unit 44b that attempts to rotate clockwise. Since the other engaging element 44d is pressed strongly between 44f and the inner peripheral surface of the storage chamber 41a, the clockwise rotation of the output portion 44b is prevented.
Similarly, when a counterclockwise rotational force is applied to the output portion 44b from the first power transmission mechanism 50 side, for example, one cam surface 44e of the output portion 44b that attempts to rotate counterclockwise. And the inner peripheral surface of the storage chamber 41a are strongly pressed so as to bite in, so that the output portion 44b is prevented from rotating counterclockwise.

なお、この一方向動力伝達機構４４は、例えば、再公表特許ＷＯ２０１３／１３３１６２号公報に開示される発明を用いることが可能である。   The one-way power transmission mechanism 44 can use, for example, the invention disclosed in the republished patent WO2013 / 133162.

また、第１の動力伝達機構５０は、第１の駆動源ユニット４０の回転力によって回転するように設けられた雄ネジ状部材５１、雄ネジ状部材５１に螺合する雌ネジ状部材５２、雌ネジ状部材５２の駆動力を可動アーム１１へ伝達する駆動リンク５３等を具備している。   The first power transmission mechanism 50 includes a male screw-like member 51 provided so as to be rotated by the rotational force of the first drive source unit 40, a female screw-like member 52 that is screwed into the male screw-like member 51, A driving link 53 for transmitting the driving force of the female screw-like member 52 to the movable arm 11 is provided.

雄ネジ状部材５１は、外周面に雄ネジ状の螺旋溝を有する軸状の部材であり、軸受５４及びブラケット等を介して第２の動作部３０に対し回転自在且つ軸方向へ移動しないように支持されている。
この雄ネジ状部材５１の後端側と、第１の駆動源ユニット４０の出力部４４ｂとの間には、出力部４４ｂの回転力を雄ネジ状部材５１へ伝達するように、複数の歯車５５が設けられている。 The male screw-like member 51 is a shaft-like member having a male screw-like spiral groove on the outer peripheral surface, and is rotatable with respect to the second operation unit 30 via a bearing 54 and a bracket and does not move in the axial direction. It is supported by.
Between the rear end side of the male screw-like member 51 and the output part 44b of the first drive source unit 40, a plurality of gears are provided so as to transmit the rotational force of the output part 44b to the male screw-like member 51. 55 is provided.

雌ネジ状部材５２は、内周面に雌ネジ状の螺旋溝を有するナット状の部材であり、雄ネジ状部材５１の先端側の外周部に螺合している。
この雌ネジ状部材５２は、雄ネジ状部材５１の一方向の回転により前進し、同雄ネジ状部材５１の他方向の回転により後退する。
これら雄ネジ状部材５１及び雌ネジ状部材５２は、周知のボールねじ機構又はすべりねじ機構によって構成することが可能である。なお、この機構は、雌ネジ状部材５２に加わる軸方向の力によって雄ネジ状部材５１が回転することのないように構成される。すなわち、この機構は、上記一方向動力伝達機構４４と同様の機能を有する。 The female screw-like member 52 is a nut-like member having a female screw-like spiral groove on the inner peripheral surface, and is screwed into the outer peripheral portion on the distal end side of the male screw-like member 51.
The female screw-like member 52 moves forward by rotation in one direction of the male screw-like member 51 and moves backward by rotation in the other direction of the male screw-like member 51.
The male screw-like member 51 and the female screw-like member 52 can be configured by a known ball screw mechanism or sliding screw mechanism. This mechanism is configured such that the male screw member 51 does not rotate due to the axial force applied to the female screw member 52. That is, this mechanism has the same function as the one-way power transmission mechanism 44.

駆動リンク５３は、一端側が雌ネジ状部材５２に対し回転自在に支持されるとともに、他端側を可動アーム１１の他片部１１ｂに対し回転自在に接続した直線状の部材である。   The drive link 53 is a linear member having one end side rotatably supported by the female screw-like member 52 and the other end side rotatably connected to the other piece 11 b of the movable arm 11.

また、第２の駆動源ユニット６０は、第１の駆動源ユニット４０と同構成のケース６１、駆動源６２、調速機構６３、一方向動力伝達機構６４等によって構成され、ベース部材１の一端から一方向動力伝達機構６４の出力部を突出させるようにして、ベース部材１内に支持されている。   The second drive source unit 60 includes a case 61 having the same configuration as that of the first drive source unit 40, a drive source 62, a speed adjusting mechanism 63, a one-way power transmission mechanism 64, and the like. The output portion of the one-way power transmission mechanism 64 protrudes from the base member 1 and is supported in the base member 1.

第２の動力伝達機構７０も、第１の動力伝達機構５０と同構成の雄ネジ状部材７１、雌ネジ状部材７２、駆動リンク７３、軸受７４および複数の歯車７５等から構成される。この第２の動力伝達機構７０は、第２の駆動源ユニット６０と略平行に並ぶようにベース部材１内に支持され、第２の駆動源ユニット６０の駆動力を第２の動作部３０に伝達するように、駆動リンク６３の先端側を、第２の動作部３０の他片部３２ｂに回転自在に接続している。   The second power transmission mechanism 70 also includes a male screw member 71, a female screw member 72, a drive link 73, a bearing 74, a plurality of gears 75, and the like having the same configuration as the first power transmission mechanism 50. The second power transmission mechanism 70 is supported in the base member 1 so as to be arranged substantially in parallel with the second drive source unit 60, and the driving force of the second drive source unit 60 is applied to the second operation unit 30. The tip end side of the drive link 63 is rotatably connected to the other piece 32b of the second operating unit 30 so as to transmit.

複数の把持ユニット２のうち、上述した把持ユニット２以外の把持ユニット２は、上記把持ユニット２と同構成である。図１に例示するように、複数の把持ユニット２は互いに線対称に配設される。
なお、複数の把持ユニット２の他例としては、非対称に配置した態様とすることも可能である。例えば、３つの把持ユニット２を角度１２０毎に配設した態様や、複数の把持ユニット２を人間の手指や腕等と同様に配設した態様等とすることも可能である。 Among the plurality of gripping units 2, gripping units 2 other than the gripping unit 2 described above have the same configuration as the gripping unit 2. As illustrated in FIG. 1, the plurality of gripping units 2 are arranged symmetrically with respect to each other.
In addition, as another example of the plurality of gripping units 2, it is possible to adopt an aspect in which they are arranged asymmetrically. For example, it is possible to adopt a mode in which three gripping units 2 are disposed at every angle 120, a mode in which a plurality of gripping units 2 are disposed in the same manner as human fingers, arms, and the like.

次に、上記構成の把持装置Ａについて、その特徴的な作用効果を詳細に説明する。
当該把持装置Ａによって把持対象物Ｂを挟む際、二つの把持ユニット２について、それぞれ、駆動源４２（モータ）に電力が供給され、該駆動源４２が一方向へ回転する。
駆動源４２の回転力は調速機構４３によって調速され、一方向動力伝達機構４４を介して第１の動力伝達機構５０に伝達される。
第１の動力伝達機構５０は、雄ネジ状部材５１を回転させることで雌ネジ状部材５２を前進させ、この前進に伴って前進する駆動リンク５３が、可動アーム１１の他片部１１ｂを押し動かし、可動アーム１１が回動する。この際、受け部材１３により連結されたパラレルリンク１２も同時に回動することになる。 Next, the characteristic effect of the gripping device A having the above configuration will be described in detail.
When the gripping object A is sandwiched by the gripping device A, electric power is supplied to the drive source 42 (motor) for each of the two gripping units 2, and the drive source 42 rotates in one direction.
The rotational force of the drive source 42 is adjusted by the speed adjusting mechanism 43 and transmitted to the first power transmission mechanism 50 via the one-way power transmission mechanism 44.
The first power transmission mechanism 50 rotates the male screw-like member 51 to advance the female screw-like member 52, and the drive link 53 that moves forward with this advance pushes the other piece 11 b of the movable arm 11. The movable arm 11 is rotated. At this time, the parallel link 12 connected by the receiving member 13 also rotates simultaneously.

そして、この回動に伴い、一方の把持ユニット２の弾性体２０と、他方の把持ユニット２の弾性体２０とが、略平行状態のまま、これらの間の幅Ｗを狭め、左右の弾性体２０の間に把持対象物Ｂが把持（挟持）される。弾性体２０は、把持対象物Ｂに押圧されて弾性変形する。
駆動源４２は、図示しない制御装置によって動作が制御される。
この制御装置は、例えば、電源、モータドライバ、演算増幅器等を含む制御回路等により構成されている。この制御装置は、把持ユニット２が把持対象物Ｂを把持する際の押圧力を、図示しない検知手段により駆動源４２の負荷電流として検知する。
そして、前記制御装置は、通常の把持動作時においては、前記負荷電流値が予めプログラム設定している基準値を超えない範囲で、駆動源４２が駆動することによって、把持対象物Ｂを把持する動作を行う。また、前記負荷電流値が前記基準値を超えたときには、駆動源４２の供給電力を自動的に遮断する。
なお、前記検知手段は、駆動源４２の負荷電流を検知するものではなく、トルクセンサ、圧力センサ或いは力覚センサなどを用いて前記押圧力を測定するものとし、この測定値が、予め適宜に設定した基準値を超えた場合に、駆動源４２の供給電力を遮断するようにしてもよい。 Then, with this rotation, the elastic body 20 of one gripping unit 2 and the elastic body 20 of the other gripping unit 2 remain in a substantially parallel state, and the width W between them is reduced, so that the left and right elastic bodies The object to be grasped B is grasped (held) between 20. The elastic body 20 is pressed by the grasped object B and elastically deforms.
The operation of the drive source 42 is controlled by a control device (not shown).
This control device is constituted by, for example, a control circuit including a power source, a motor driver, an operational amplifier, and the like. This control device detects a pressing force when the gripping unit 2 grips the gripping object B as a load current of the drive source 42 by a detection unit (not shown).
In the normal gripping operation, the control device grips the gripping object B by driving the drive source 42 within a range in which the load current value does not exceed a preset reference value. Perform the action. When the load current value exceeds the reference value, the power supplied from the drive source 42 is automatically cut off.
The detecting means does not detect the load current of the driving source 42, but measures the pressing force using a torque sensor, a pressure sensor, a force sensor, or the like. When the set reference value is exceeded, the power supplied to the drive source 42 may be cut off.

前記電力遮断状態では、第１の動力伝達機構５０及び一方向動力伝達機構４４が逆方向の力を伝達せずに出力部４４ｂをロックするため、受け部材１３及び第１の動作部１０が逆方向へ動作するようなことがない。このため、弾性体２０が把持対象物Ｂに押圧されて弾性変形した状態が維持され、この結果、左右の弾性体２０の間に把持対象物Ｂが把持された状態が維持される。   In the power cut-off state, the first power transmission mechanism 50 and the one-way power transmission mechanism 44 lock the output unit 44b without transmitting the reverse force, so that the receiving member 13 and the first operation unit 10 are reversed. There is no movement in the direction. For this reason, the state in which the elastic body 20 is pressed and elastically deformed by the gripping object B is maintained, and as a result, the state in which the gripping object B is gripped between the left and right elastic bodies 20 is maintained.

そして、前記把持状態において、駆動源４２を逆回転させるように該駆動源４２に電力を供給すれば、駆動源４２の逆方向の回転力が一方向動力伝達機構４４及び第１の動力伝達機構５０を介して第１の動作部１０等に伝達されるため、第１の動作部１０が逆方向へ回動し、左右の弾性体２０の間から把持対象物Ｂが解放される。
なお、一方向動力伝達機構４４及び第１の動力伝達機構５０の作用により把持対象物Ｂを把持する際、把持力が目標値を超えてしまう場合がある。このような場合には、必要に応じて前記把持力を低減させるために、前記把持力を目標値に一致させるように駆動源４２を逆回転させ、第１の動作部１０を逆方向に回動させる。この時、仮に弾性体２０がない場合には把持対象物Bを把持する力が急激に減少し、把持対象物Ｂを落下させてしまう恐れがあるが、本実施態様の把持装置Ａでは、弾性体２０を含む上記構成によって、回動量に対する把持力の変化を前述の通り緩やかにすることができ、その結果として、把持対象物Ｂを落下させることなく把持力を維持することが可能である。 When power is supplied to the drive source 42 so as to rotate the drive source 42 in the gripping state, the reverse rotational force of the drive source 42 causes the one-way power transmission mechanism 44 and the first power transmission mechanism. Since the first operation unit 10 is transmitted to the first operation unit 10 and the like via 50, the first operation unit 10 rotates in the reverse direction, and the grasped object B is released from between the left and right elastic bodies 20.
When gripping the gripping object B by the action of the one-way power transmission mechanism 44 and the first power transmission mechanism 50, the gripping force may exceed a target value. In such a case, in order to reduce the gripping force as necessary, the drive source 42 is reversely rotated so that the gripping force matches the target value, and the first operation unit 10 is rotated in the reverse direction. Move. At this time, if the elastic body 20 is not provided, the force for gripping the gripping object B may be suddenly reduced and the gripping object B may be dropped. With the above-described configuration including the body 20, the change in the gripping force with respect to the rotation amount can be moderated as described above. As a result, the gripping force can be maintained without dropping the gripping object B.

また、第２の駆動源ユニット６０の駆動源６２を動作させれば、第２の動作部３０を回動させることができ、この回動によって、弾性体２０の把持面の角度を変えたり、把持可能な最大幅を変化させたり等することができる。   Further, if the drive source 62 of the second drive source unit 60 is operated, the second operation unit 30 can be rotated, and by this rotation, the angle of the gripping surface of the elastic body 20 can be changed, The maximum width that can be gripped can be changed.

よって、上記構成の把持装置Ａによれば、把持対象物Ｂを把持した後に、駆動力を遮断したとしても、弾性体２０の弾性（復元力）及び摩擦等によって、把持対象物Ｂに対する把持力を十分に保持することができる。この結果、把持対象物Ｂに対する把持状態を維持する際の消費電力を大幅に軽減することができる。
また、把持対象物Ｂを把持した際に、把持ユニット２のバックラッシュや固有の弾性変形量等を含む必要最小限の弾性変形となるように、弾性体２０の弾性率が設定されているため、高速に動作させた場合でも、把持の確実性が低下するようなことを防ぐことができる。 Therefore, according to the gripping apparatus A configured as described above, even if the driving force is interrupted after the gripping target B is gripped, the gripping force on the gripping target B due to the elasticity (restoring force) and friction of the elastic body 20 Can be held sufficiently. As a result, it is possible to significantly reduce power consumption when maintaining the gripping state with respect to the gripping object B.
In addition, when the gripping object B is gripped, the elastic modulus of the elastic body 20 is set so that the necessary minimum elastic deformation including the backlash of the gripping unit 2 and the inherent elastic deformation amount is obtained. Even when operated at high speed, it is possible to prevent a reduction in gripping reliability.

なお、上記実施態様によれば、駆動源４２，６２として電動の回転式モータを用いたが、この駆動源の他例としては、エアー式の回転式モータや直動機構、出力軸を振動によって回転させたり直動させたりする機構、電磁ソレノイドによって出力軸を直動させるようにした機構、これらの機構を適宜に組み合わせた機構等とすることが可能である。   In addition, according to the said embodiment, although the electric rotary motor was used as the drive sources 42 and 62, as an other example of this drive source, an air-type rotary motor, a linear motion mechanism, and an output shaft are vibrated. A mechanism that rotates or linearly moves, a mechanism that linearly moves the output shaft by an electromagnetic solenoid, a mechanism that appropriately combines these mechanisms, and the like can be used.

また、上記実施態様によれば、調速機構４３として遊星歯車機構を用いたが、この調速機構の他例としては、複数の歯車を適宜に組み合わせた機構や、直動ねじ機構、ハーモニックドライブ（登録商標）を用いた機構、これらの機構を適宜に組み合わせた機構等とすることも可能である。   Further, according to the above embodiment, the planetary gear mechanism is used as the speed control mechanism 43, but other examples of the speed control mechanism include a mechanism in which a plurality of gears are appropriately combined, a linear screw mechanism, a harmonic drive. It is also possible to use a mechanism using (registered trademark), a mechanism in which these mechanisms are appropriately combined, or the like.

また、上記実施態様によれば、弾性体２０の復元力により第１の動作部１０が逆方向へ動作しないように、一方向動力伝達機構４４や第１の動力伝達機構５０のボールねじ機構又はすべりねじ機構等を設けたが、同様の機能を有する他例としては、ウォームギア機構を用いた態様や、これらの機構を適宜に組み合わせた態様等とすることも可能である。   Further, according to the above embodiment, the ball screw mechanism of the one-way power transmission mechanism 44 or the first power transmission mechanism 50 or the first power transmission mechanism 50 is prevented so that the first operating unit 10 does not operate in the reverse direction due to the restoring force of the elastic body 20. Although a slide screw mechanism or the like is provided, as other examples having the same function, an aspect using a worm gear mechanism or an aspect in which these mechanisms are appropriately combined may be used.

また、上記実施態様によれば、特に好ましい具体例として、把持ユニット２のバックラッシュと固有の弾性変形量の合計の変化量を含むように弾性体２０の弾性率を設定したが、他例としては、バックラッシュのみを含むように前記弾性率を設定したり、前記弾性変形量のみを含むように前記弾性率を設定することも可能である。   Further, according to the above embodiment, as a particularly preferable specific example, the elastic modulus of the elastic body 20 is set so as to include the total change amount of the backlash of the gripping unit 2 and the inherent elastic deformation amount. The elastic modulus can be set so as to include only backlash, or the elastic modulus can be set so as to include only the elastic deformation amount.

また、上記実施態様によれば、第１の動作部１０、第１の駆動源ユニット４０および第１の動力伝達機構５０と、第２の動作部３０、第２の駆動源ユニット６０および第２の動力伝達機構７０との二つの動作部分を具備するようにしたが、他例としては、いずれか一方の動作部分を省いたり、上記同様の構成によって動作部分を三以上設けたりすることも可能である。   Moreover, according to the said embodiment, the 1st operation | movement part 10, the 1st drive source unit 40, the 1st power transmission mechanism 50, the 2nd operation | movement part 30, the 2nd drive source unit 60, and the 2nd However, as another example, it is possible to omit one of the operating parts, or to provide three or more operating parts by the same configuration as described above. It is.

また、上記実施態様によれば、二つの把持ユニット２が何れも動作する態様としたが、他例としては、一方の把持ユニット２を不動に固定された一体の部材とし、該部材と、動作可能な他の把持ユニット２との間で、把持対象物Ｂを把持する構成とすることも可能である。   Moreover, according to the said embodiment, although it was set as the aspect which all the two holding | grip units 2 operate | move, as another example, let one holding | grip unit 2 be an immovable fixed fixed member, and this member and operation | movement It is also possible to adopt a configuration in which the object to be grasped B is grasped with another possible grasping unit 2.

また、上記実施態様によれば、二つの把持ユニット２の間で把持対象物Ｂを把持するようにしたが、他例としては、三以上の把持ユニット２の間で把持対象物Ｂを把持する態様や、人間の手指状に構成された複数の把持ユニット２の間で把持対象物Ｂを把持する態様等とすることも可能である。   Further, according to the above embodiment, the gripping object B is gripped between the two gripping units 2, but as another example, the gripping target object B is gripped between three or more gripping units 2. It is also possible to adopt a mode, a mode in which the gripping object B is gripped between a plurality of gripping units 2 configured in the shape of a human finger, and the like.

また、本発明は上述した実施態様に限定されず、本発明の要旨を変更しない範囲で適宜変更可能である。   Moreover, this invention is not limited to the embodiment mentioned above, In the range which does not change the summary of this invention, it can change suitably.

１：ベース部材
２：把持ユニット
１０：第１の動作部
２０：弾性体
３０：第２の動作部
４０：第１の駆動源ユニット
４１：ケース
４１ａ：収納室
４２，６２：駆動源
４３，６３：調速機構
４４，６４：一方向動力伝達機構
４４ｃ，４４ｄ：係合子
４４ｅ，４４ｆ：カム面
４４ｇ：付勢部材
４４ａ：入力部
４４ｂ：出力部
６０：第２の駆動源ユニット
Ａ：把持装置
Ｂ：把持対象物 DESCRIPTION OF SYMBOLS 1: Base member 2: Gripping unit 10: 1st action | operation part 20: Elastic body 30: 2nd action | operation part 40: 1st drive source unit 41: Case 41a: Storage chamber 42,62: Drive source 43,63 : Speed control mechanism 44, 64: One-way power transmission mechanism 44c, 44d: Engagement elements 44e, 44f: Cam surface 44g: Biasing member 44a: Input unit 44b: Output unit 60: Second drive source unit A: Gripping device B: Grasping object

Claims (4)

複数の把持ユニットの間を開閉させて、これら把持ユニット間で把持対象物を把持したり解放したりする把持装置において、
前記複数の把持ユニットのうちの少なくとも一つには、
駆動源側から入力部に加わる駆動力を出力部に伝達可能であって且つ出力側から前記出力部に力が加わった際には前記出力部をロックする一方向動力伝達機構と、
前記入力部に駆動力を付与する駆動源と、
前記出力部の駆動力により前記開閉の方向へ移動する動作部と、
把持対象物に押圧されるように前記動作部の閉方向側の部分に設けられた弾性体と、が具備されていることを特徴とする把持装置。 In a gripping device that opens and closes between a plurality of gripping units and grips or releases a gripping object between these gripping units,
At least one of the plurality of gripping units includes
A one-way power transmission mechanism that can transmit a driving force applied to the input unit from the drive source side to the output unit and locks the output unit when a force is applied to the output unit from the output side;
A driving source for applying a driving force to the input unit;
An operation unit that moves in the opening and closing direction by the driving force of the output unit;
A gripping device comprising: an elastic body provided at a portion of the operating portion on the closing direction side so as to be pressed by a gripping object. 前記弾性体は、前記把持ユニットのバックラッシュによる変位量よりも大きく弾性変形するように形成されていることを特徴とする請求項１記載の把持装置。   The gripping device according to claim 1, wherein the elastic body is formed to be elastically deformed larger than a displacement amount due to backlash of the gripping unit. 前記弾性体は、予め設定された押圧力が前記弾性体よりも駆動源側に加わった際に生じる前記把持ユニットの弾性変形の量よりも大きく弾性変形するように形成されていることを特徴とする請求項１又は２記載の把持装置。   The elastic body is formed so as to be elastically deformed larger than an amount of elastic deformation of the gripping unit that occurs when a preset pressing force is applied to the drive source side of the elastic body. The gripping device according to claim 1 or 2. 前記一方向動力伝達機構は、円柱状空間を有する収納室と、前記収納室に同軸状に回転するように収納された前記出力部と、前記出力部に対し同軸状に回転するように係合した前記入力部と、前記収納室の内周面と出力部の外周面との間に設けられた係合子と、前記係合子を周方向の一方側へ付勢する付勢部材とを備え、前記出力部の外周面に、前記一方側へ向かって前記収納室の内周面との間を徐々に狭めるカム面を形成し、前記入力部が前記一方側に対する他方側に回転した際に、前記入力部を前記係合子に当接した後に、同入力部を前記出力部に当接して前記出力部を押動するように構成されていることを特徴とする請求項１乃至３何れか１項記載の把持装置。   The one-way power transmission mechanism is engaged with a storage chamber having a columnar space, the output unit stored in the storage chamber so as to rotate coaxially, and coaxially rotated with respect to the output unit. The input portion, an engagement member provided between the inner peripheral surface of the storage chamber and the outer peripheral surface of the output portion, and a biasing member that biases the engagement member to one side in the circumferential direction, On the outer peripheral surface of the output portion, a cam surface that gradually narrows between the inner peripheral surface of the storage chamber toward the one side is formed, and when the input portion rotates to the other side with respect to the one side, 4. The structure according to claim 1, wherein the input unit is configured to abut on the output element after the input unit abuts on the engaging element. 5. The gripping device according to item.
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