JP2018079560A - Gripping claw, and gripping claw attaching/detaching mechanism - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a gripping claw capable of securing easily a storage space by reducing as much as possible a component to be exchanged, and performing automatic exchange of the gripping claw without providing a driving source separately.SOLUTION: A gripping claw for gripping a gripping object includes a claw adapter member having a gripping claw body, and a claw base member having an engaging part for attaching the claw adapter member to an opening/closing mechanism for opening/closing the gripping claw body. The claw adapter member and the claw base member include an attaching/detaching mechanism for performing engagement and removal corresponding to action of the claw base member.SELECTED DRAWING: Figure 21

Description

  The present invention relates to a gripping claw for detachably attaching to a gripping device and gripping a gripping object, and a gripping claw attaching / detaching mechanism for detachably attaching a gripping claw to a gripping device.

  Conventionally, various types of robot hands having gripping claws for gripping a gripping object are known. In such robot hands, the gripping claws are exchanged according to the shape of the gripping object. Yes.

  It is desired that the gripping claw replacement work can be automatically performed along with the automation of the work using the robot hand. For example, as described in Patent Document 1 below, the gripper main body is desired. A pair of parent claws that are provided so as to be openable and closable and have a child claw mounting hole parallel to the center line of the gripping work, and a radial notch groove that is fixed on the jig base with a gap and corresponding to the parent claw. A child claw storage jig comprising: a notch plate having a base plate that is vertically movable in a gap between the notch plate and the jig base and is always biased toward the notch plate by a spring; A workpiece carrying table, a guide portion that is detachably inserted into the child claw mounting hole, and a hook-like convex portion that contacts the bottom surface of the notch plate on both side surfaces, and has various workpiece gripping diameters. Corresponding pairs of child claws, A ball plunger member for releasably clamping the child claw is provided on the recording claw, and the gripper main body is positioned on the empty child claw storage jig and the child claw storage jig stored in advance to An automatic loader or robotic workpiece gripping claw changing device for exchanging a loader or a robot is known.

Japanese Patent No. 2816801

  An automatic workpiece gripping claw changing device for a robot as described in Patent Document 1 can constitute a workpiece gripping claw automatic changing device that can handle a wide range of workpiece gripping diameters with a simple device. Since the child claws to be attached are automatically exchanged, it is difficult to change the shape of the child claws according to the shape of the object to be grasped, and there is a problem that various objects to be grasped cannot be grasped.

  Moreover, in the automatic assembly process for gripping various gripping objects, the robot hand itself is replaced to deal with various kinds of gripping objects. However, according to such a method, different gripping claw shapes can be obtained. In addition to requiring a space for storing a plurality of robot hands, a separate drive source is required for attaching and detaching the robot hand, which makes it difficult to downsize the gripping claw replacement device.

  The present invention has been made to solve the above-mentioned problems, and it is possible to easily secure a storage place by minimizing the parts to be replaced, and to automatically replace the gripping claws without providing a separate drive source. An object is to provide a gripping claw that can be performed.

  A gripping claw according to the present invention is a gripping claw for gripping a gripping object, and a claw adapter member provided with a gripping claw body and an engagement for attaching the claw adapter member to an opening / closing mechanism that opens and closes the gripping claw body. And the claw adapter member and the claw base member include an attachment / detachment mechanism that engages and releases according to the operation of the claw base member.

  The gripping claw attaching / detaching mechanism according to the present invention mounts the claw adapter member having a gripping claw body, a claw base member for attaching the claw adapter member to an opening / closing mechanism for opening and closing the gripping claw body, and the claw adapter. A claw stocker member, and the claw stocker member rotates the engaging portion engaged with the connecting portion formed on the claw adapter member when releasing the engagement between the claw base member and the claw adapter member. It is provided with the latching | locking part to move.

  According to the present invention, the claw adapter member and the claw base member are provided with the attachment / detachment mechanism that engages and releases according to the operation of the claw base member without providing a separate drive source for attaching and detaching the grip claw. The gripping claw body can be exchanged according to the shape of the gripping object. In addition, since the claw adapter member to which the gripping claw main body is attached is exchanged, the replacement object can be reduced in size, and the work space can be reduced.

The perspective view for demonstrating the structure of the holding | gripping apparatus provided with the holding nail | claw which concerns on the 1st Embodiment of this invention. The side view for demonstrating the structure of an arm part. The perspective view of the holding nail which concerns on the 1st Embodiment of this invention. The exploded view of the grasping nail concerning a 1st embodiment of the present invention. The perspective view of the opening-and-closing mechanism of the grasping nail concerning a 1st embodiment of the present invention. The exploded view of the claw base member and claw adapter member of a grasping claw concerning a 1st embodiment of the present invention. The perspective view of the nail | claw base member of the holding claw which concerns on the 1st Embodiment of this invention. The perspective view which shows the back surface of the nail | claw base member of the holding claw which concerns on the 1st Embodiment of this invention. The perspective view of the nail | claw adapter member of the holding | grip nail | claw which concerns on the 1st Embodiment of this invention. The perspective view of the cover member of the holding nail which concerns on the 1st Embodiment of this invention. The perspective view of the hook member of the holding nail which concerns on the 1st Embodiment of this invention. The figure which shows replacement | exchange operation | movement of the holding nail | claw which concerns on the 1st Embodiment of this invention. FIG. 5 is a detailed view showing a gripping claw replacement operation according to the first embodiment of the present invention. FIG. 5 is a detailed view showing a gripping claw replacement operation according to the first embodiment of the present invention. The figure for demonstrating the positioning method to the nail | stock nail stocker member of the nail | claw adapter member of the holding nail | claw which concerns on the 1st Embodiment of this invention. The perspective view of the holding nail which concerns on the 2nd Embodiment of this invention. The exploded view of the nail | claw base member and nail | claw adapter member of the holding claw which concern on the 2nd Embodiment of this invention. The perspective view for demonstrating the structure of the nail | claw base member of the holding | grip nail | claw which concerns on the 2nd Embodiment of this invention. The perspective view for demonstrating the nail | claw stocker member of the holding | gripping apparatus which concerns on the 2nd Embodiment of this invention. The perspective view for demonstrating the structure of the nail | claw stocker member of the holding nail | claw which concerns on the 2nd Embodiment of this invention. Detailed drawing explaining the replacement | exchange operation | movement of the holding nail | claw which concerns on the 2nd Embodiment of this invention. Detailed drawing explaining the replacement | exchange operation | movement of the holding nail | claw which concerns on the 2nd Embodiment of this invention.

[First Embodiment]
Hereinafter, embodiments of a gripping claw according to the present invention will be described with reference to the drawings. The following embodiments do not limit the invention according to each claim, and all combinations of features described in the embodiments are not necessarily essential to the solution means of the invention. .

  FIG. 1 is a perspective view for explaining the configuration of a gripping device including a gripping claw according to the first embodiment of the present invention, and FIG. 2 is a side view for explaining the configuration of an arm portion. 3 is a perspective view of the gripping claw according to the first embodiment of the present invention, FIG. 4 is an exploded view of the gripping claw according to the first embodiment of the present invention, and FIG. FIG. 6 is a perspective view of a gripping claw opening / closing mechanism according to the first embodiment of the invention, and FIG. 6 is an exploded view of the claw base member and claw adapter member of the gripping claw according to the first embodiment of the present invention; FIG. 7 is a perspective view of the claw base member of the grip claw according to the first embodiment of the present invention, and FIG. 8 shows the back surface of the claw base member of the grip claw according to the first embodiment of the present invention. FIG. 9 is a perspective view of a claw adapter member for a gripping claw according to the first embodiment of the present invention, and FIG. FIG. 11 is a perspective view of a lid member of the gripping claw according to the first embodiment, FIG. 11 is a perspective view of a hook member of the gripping claw according to the first embodiment of the present invention, and FIG. FIG. 13 is a view showing a gripping claw replacement operation according to the first embodiment, FIG. 13 is a detailed view showing a gripping claw replacement operation according to the first embodiment of the present invention, and FIG. FIG. 15 is a detailed view showing a gripping claw replacement operation according to the first embodiment, and FIG. 15 illustrates a positioning method of the gripping claw adapter member to the claw stocker member according to the first embodiment of the present invention. FIG.

  As shown in FIG. 1, the gripping device 1 according to this embodiment includes an arm unit 10 mounted on a base 12 via a rotation fixing unit 11. The arm unit 10 is controlled by the control unit 15 such as gripping operation and movement of the hand unit. Further, outside the base 12, storage units 13 and 14 for storing a workpiece that is a gripping object are provided.

  With such a configuration, the gripping device 1 according to the present embodiment enables the arm unit 10 to take out gripping objects from the storage units 13 and 14 and perform a predetermined operation. .

  As shown in FIG. 2, the arm portion 10 is rotatably attached to the base 12 via a rotation fixing portion 11. The arm portion 10 is attached to the rotation fixing portion 11, and is pivotable around a first shaft 41 that intersects the base 12 substantially perpendicularly, and a first link portion 42 at one end of the first link portion 42. A second link portion 44 attached via two shafts 43 and rotatable in the front-rear direction around a horizontal second shaft 43 that intersects the first shaft 41 of the first link portion 42; A third link portion 46 provided at the tip and rotatable in the front-rear direction around a third shaft 45 parallel to the second shaft 43 of the second link portion 44, and a fourth link provided at the tip of the third link portion 46. A hand moving unit 20 including a fourth link unit 48 that is rotatable about the axis of the shaft 47 and a hand unit 21 as a hand effector attached to the tip of the fourth link unit 48 are provided. Since the hand part 21 is configured in this way, the hand part 21 attached to the tip of the arm part 10 can be moved three-dimensionally.

  As shown in FIG. 3, the hand portion 21 includes an attachment base portion 20 a attached to the fourth link portion 48, an opening / closing mechanism 22, and a pair of gripping claws 30 attached to be opened and closed by the opening / closing mechanism 22. . The gripping claws 30 can be stored in the claw stocker member 50, and replacement gripping claws 30a to 30c having a gripping claw shape that matches the shape of the gripping object are stored in the claw stocker member 50. .

  As shown in FIG. 4, the gripping claw 30 can be engaged and released by the claw base member 23 and the claw adapter member 31 attached to the opening / closing mechanism 22 of the attachment base 20a. The claw adapter member 31 is removed from the claw base member 23 and can be replaced with a claw adapter member to which another gripping claw body 32 is attached.

  The claw adapter member 31 can be engaged with the grip claw body 32 and the claw base member 23 in accordance with the shape of the object to be gripped, and can be engaged with and released from the claw base member with the opening / closing operation of the opening / closing mechanism 22. An attachment / detachment mechanism is provided. The grip claw body 32 is fixed to the claw adapter member 31 with fastening bolts, for example.

  The pair of gripping claw bodies 32 according to the present embodiment are members formed in mirror symmetry, and the gripping surfaces of the gripping claw bodies 32 correspond to the gripping objects so that the gripping objects can be gripped. It is formed in a different shape. The grip claw body 32 is made of a material having a relatively low hardness so as not to damage the gripping target object, and may be formed of, for example, an aluminum alloy or the like, and grips the gripping target object. Therefore, in order to make the gripping claws 31 difficult to wear, the gripping claws 31 may be made of a material having high hardness. Note that the gripping claw body 32 can be used by being appropriately combined with the claw adapter member 31 in accordance with the shape of the gripping object to be gripped.

  As shown in FIG. 5, the opening / closing mechanism 22 is an element component that can open and close the pair of gripping claw bodies 32 so as to be separated from and close to each other with a certain stroke by the input of an external driving source such as pressure and electric power. The object to be grasped can be grasped / released by opening / closing the grasping claw bodies 32, 32 via the claw base member 23 attached to the opening / closing mechanism 22. In the present embodiment, the case where the opening / closing mechanism 22 uses a solenoid driven by a signal obtained from the control unit 15 has been described. However, a drive source may be separately prepared and air or oil may be used. You may comprise with an electric motor.

  Next, the structure of the attachment / detachment mechanism for the claw adapter member 31 and the claw base member 23 of the grip claw 30 according to the present embodiment will be described with reference to FIG. The attachment / detachment mechanism of the gripping claw 30 according to the present embodiment includes a claw base member 23 attached to the opening / closing mechanism 22 and a claw adapter member 31 attached to the claw base member 23 so as to be engaged and released. The claw adapter member 31 includes a claw adapter main body 31a and a hook member 33 assembled so as to be movable in the opening / closing direction of the opening / closing mechanism 22. The hook member 33 is formed by the claw adapter main body 31a and the lid member 34. The movement in the vertical direction is restricted by being sandwiched.

  As shown in FIGS. 7 and 8, the claw base member 23 is a substantially flat plate-like member, and an attachment groove 24 to which the opening / closing mechanism 22 is attached is formed on the upper surface. The mounting groove 24 is formed along the opening / closing direction X of the opening / closing mechanism 22, and the mounting to the opening / closing mechanism 22 is performed by assembling the opening / closing mechanism 22 into the mounting groove 24 and then positioning pins formed in the mounting groove 24. 25a is inserted into the opening / closing mechanism 22 and positioned, and then fastened and fixed by fastening bolts 25b and 25b.

  Further, at one end of the claw base member 23 in the opening / closing direction X, a pressing projection groove 26 that allows insertion of a pressing projection 51 described later is formed so as to correspond to the pressing projection 51. Further, engaging portions 28 are formed on both side surfaces 28a, 28a along the opening / closing direction of the claw base member 23. The engaging portion 28 is preferably a cylindrical pin member, and is preferably formed along the opening / closing direction X by two or more. Further, on both side surfaces 28a, 28a, flanges 27, 27 are formed which are flush with the upper surface of the claw base member 23 and project in a direction perpendicular to the opening / closing direction X.

  A fixing portion 29 extending toward the claw adapter member 31 is formed on the back surface of the claw base member 23 (the surface facing the claw adapter member 31). The fixing portion 29 is preferably a cylindrical pin member as in the case of the engaging portion 28, but is more preferably formed to have a larger diameter than the engaging portion 28.

  As shown in FIG. 9, the biasing mechanism that is the claw adapter main body 31 a is a substantially flat plate-like member, and a hook member groove 35 in which the hook member 33 is movably assembled is formed along the opening / closing direction X. Has been. Further, at one end along the opening / closing direction X of the hook member groove 35, a pressing projection groove 38 corresponding to the pressing projection groove 26 of the claw base member 23 is formed, and the hook member 33 is moved in the opening / closing direction X. An urging means 37 for urging along is attached. The biasing means 37 may be any member as long as it can bias the hook member 33 along the opening / closing direction X. For example, a coil spring is preferably used.

Further, guide portions 36 a and 36 a for guiding the hook member 33 along the opening / closing direction X are attached to the hook member groove 35, and a fixed portion base 35 a erected from the groove bottom surface of the hook member groove 35. A fixed portion 36 into which the fixing portion 29 formed on the claw base member 23 can be inserted is formed. The fixed portion 36 has a long hole shape extending in a direction substantially perpendicular to the opening / closing direction X, and the width of the fixed portion 36 is formed so that the fixing portion 29 can be inserted and there is no backlash in the opening / closing direction X. The length of the fixed part 36 is formed so as to absorb the positional deviation of the fixing part 29 in the width direction.

  In addition, a claw adapter fixing portion 54 is formed along the opening / closing direction X on both side surfaces along the opening / closing direction X of the claw adapter main body 31a, and the claw adapter fixing portion 54 faces the bottom of the claw adapter main body 31a. An opening groove 55 that is open, a horizontal groove 56 that is orthogonal to the introduction groove 55 and extends in the opening / closing direction X, and a fixing groove 57 that is formed wider than the horizontal groove 56 formed at one end of the horizontal groove 56. It has.

  Further, on both side surfaces along the opening / closing direction X of the claw adapter main body 31a, restricting portions 39, 39 standing from the upper surface of the claw adapter main body 31a along the opening / closing direction X are formed. The side surfaces 28a and 28a of the claw base member 23 are formed to be engageable with each other between the mutually facing surfaces 39a and 39a, and the upper surface of the restricting portion 39 can abut on the flange portion 27 of the claw base member 23. Is formed.

  As shown in FIG. 10, the lid member 34 is a member that is attached between the restricting portions 39, 39 of the claw adapter main body 31 and fixes the hook member 33, and is used for pushing the claw base member 23 and the claw adapter main body 31a. A pressing projection groove 34a corresponding to the grooves 26 and 38 is formed. Further, an insertion hole 34b through which the fixing portion 29 of the claw base member 23 is inserted and a clamp portion groove 34c through which a clamp portion 33a of the hook member 33 described later is inserted are at positions corresponding to the fixing portion 29 and the clamp portion 33a, respectively. Is formed. The lid member 34 is fastened to the claw adapter main body 31a by fastening bolts 34d.

  As shown in FIG. 11, the attaching / detaching mechanism that is the hook member 33 includes a flat hook body 40 and a clamp portion that is erected from the hook body 40 so as to engage with the engaging portion 28 of the claw base member 23 described above. 33a. The clamp portion 33a is preferably arranged at approximately four corners or diagonal positions of the hook body 40, and an inclined surface 33b inclined with respect to the opening / closing direction X is formed.

  Further, the hook body 40 is formed with a clearance groove 33c that prevents interference with the fixed portion base 35a formed in the claw adapter body 31a, and the hook guide groove 36b is formed at a position corresponding to the guide portion 36a. Has been. The hook guide groove 36b is formed to have a predetermined length along the opening / closing direction X so as to ensure a stroke amount for the hook member 33 to move.

  Further, at one end along the opening / closing direction X of the hook body 40, a biasing means receiving portion 37a is formed at a position corresponding to the biasing means 37 of the claw adapter main body 31a. When the biasing means receiving portion 37 a receives the biasing force of the biasing means 37, the hook member 33 can be biased along the opening / closing direction X.

Thus, since the nail base member 23 and the nail adapter member 31 are configured, the fixing portion 29 of the nail base member 23 is inserted into the fixed portion 36 of the nail adapter member 31, thereby The position along the opening / closing direction X with the claw adapter member 31 can be fixed. Further, since the claw base member 23 is assembled between the mutually opposing surfaces 39a, 39a of the restricting portions 39, 39 of the claw adapter member 31, the position in the direction orthogonal to the opening / closing direction X can be fixed. Further, as shown in FIG. 13B, since the clamp portion 33a of the hook member 33 is inserted between the collar portion 27 and the engaging portion 28 of the claw base member 23, the claw base member 23 and the claw adapter member The position in the vertical direction of 31 is fixed. In addition, since the inclined surface 33b is formed in the clamp portion 33a, the inclined surface 33b is inserted between the flange portion 27 and the engaging portion 28 and acts as a wedge, so that the claw base member 23 and the claw adapter member 31 can be assembled without gaps. Further, when the claw adapter member 31 is repeatedly replaced, there is a possibility that the clamp portion 33a may be worn, but when a gap is generated between the claw base member 23 and the claw adapter member 31 due to wear or the like. However, the connection can be maintained without generating a gap by advancing the insertion state of the inclined surface 33b. Here, since the hook member 33 is urged in the opening / closing direction X by the urging means 37, the clamp portion 33 a is inserted between the flange portion 27 and the engaging portion 28 by the urging force of the urging means 37. Thus, the connection between the claw base member 23 and the claw adapter member 31 is maintained.

  Further, according to the gripping claws 30 according to the present embodiment, since the claw adapter member 31 can be removed from the hand portion 21 and the replacement work can be performed, the parts to be replaced can be made as small as possible to easily secure the storage location. . Furthermore, since the attachment / detachment mechanism can be operated by driving the opening / closing mechanism 22 that performs the opening / closing operation of the gripping claws 30, the automatic replacement of the gripping claws 30 can be performed more easily without providing a separate drive source.

  Next, with reference to FIG. 3 and FIGS. 12 to 15, the operation of the attachment / detachment mechanism for the claw base member 23 and the claw adapter member 31 of the gripping claw according to the present embodiment will be described. As shown in FIG. 3, it is preferable to attach and detach the gripping claws 30 according to the present embodiment using the claw stocker member 50 in which the replacement gripping claws 33a to 30c are stored.

  The claw stocker member 50 is formed with a holding hole 50a on which the claw adapter member 31 can be placed, and the holding hole 50a has a pushing projection 51 protruding so as to face each other along the opening / closing direction X, and A fixing projection 52 that protrudes in a direction substantially orthogonal to the opening / closing direction X is formed so as to engage with a claw adapter fixing portion 54 formed on the claw adapter main body 31a. A fixing and maintaining mechanism 53 that urges the claw adapter member 31 in the vertical direction Z is attached to the mounting surface of the claw adapter main body 31a in the holding hole 50a. The fixing and maintaining mechanism 53 may adopt any configuration as long as it can urge the claw adapter member 31 in the vertical direction Z. For example, a leaf spring or the like is preferably used. The claw adapter member 31 configured in this manner can be engaged with and released from the claw base member 23 in cooperation with the pushing protrusion 51 formed on the claw stocker member 50 by the opening / closing operation of the opening / closing mechanism 22. The gripping claw attaching / detaching mechanism is configured.

  Next, a method for releasing the engagement between the claw base member 23 and the claw adapter member 31 will be described with reference to FIGS. In the following description, the hand unit 21 is omitted for ease of explanation. First, as shown in FIGS. 12A and 12B, the hand claw 30 is moved above the holding hole 50a of the claw stocker member 50 by operating the hand portion 21, and then the grip claw 30 is lowered. The gripping claw 30 is placed in the holding hole 50a.

  As shown in FIG. 13 (a), in the state where the gripping claw 30 is placed in the holding hole 50a, the pressing projection grooves 26, 38 formed in the claw base member 23, the claw adapter main body 31a, and the lid member 34, respectively. The pushing protrusion 51 is arranged so as to face 34a.

  Next, as shown in FIG. 12C, the opening / closing mechanism 22 is operated to open the gripping claws 30. By this operation, as shown in FIGS. 14 (a) and 14 (b), the pushing protrusion 51 is formed in the pushing protrusion grooves 26, 38 and 34a formed in the claw base member 23, the claw adapter main body 31a and the lid member 34, respectively. The hook member 33 is inserted and moved so as to be pushed in the left direction of FIG. At this time, the hook member 33 is guided along the opening / closing direction X because the guide portion 36a is engaged with the hook guide groove 36b.

By the movement of the hook member 33, the insertion of the clamp portion 33a between the flange portion 27 and the engaging portion 28 is released, so that the connection between the claw base member 23 and the claw adapter member 31 is released. Thereafter, as shown in FIG. 12 (d), when the hand portion 21 is raised, the claw adapter member 31 moves only the claw base member 23 while being placed on the claw stocker member 50, thereby Exchange to nails can be performed. Therefore, the pushing protrusion 51 constitutes an opening / closing means for operating the attaching / detaching mechanism by pushing the hook member 33. In addition, the process of mounting | wearing with the holding | grip nail | claw 30 can be mounted | worn by performing the reverse process of cancellation | release of engagement of the nail | claw base member 23 and the nail | claw adapter member 31 mentioned above.

  Next, a method for positioning the claw adapter member 31 and the claw stocker member 50 will be described with reference to FIG. When the claw adapter member 31 is inserted into the holding hole 50a of the claw stocker member 50 by operating the hand part 21, the hand part 21 is formed in the holding hole 50a as the hand part 21 descends as shown in FIG. The fixing protrusion 52 is inserted into the introduction groove 55 of the claw adapter fixing portion 54 formed on the claw adapter member 31.

  Further, as shown in FIG. 15B, when the opening / closing mechanism 22 is moved in the opening direction when the claw base member 23 and the claw adapter member 31 are released as described above, the fixing protrusion 52 becomes the claw adapter fixing portion 54. After moving in the horizontal groove 56, as shown in FIG. 15C, it engages with a fixing groove 57 formed at the end of the claw adapter fixing portion 54. At this time, since the fixing and maintaining mechanism 53 is formed on the mounting surface of the holding hole 50a, the claw adapter member 31 is urged upward in FIG. 15C by the urging force of the fixing and maintaining mechanism 53. Thus, the engagement between the fixing protrusion 52 and the fixing groove 57 is maintained. The fixing protrusion 52 and the fixing groove 57 can be easily released by pushing the claw adapter member 31 downward against the urging force of the fixing maintaining mechanism 53.

  As described above, since the claw adapter member 31 can be accurately positioned in the holding hole 50a of the claw stocker member 50, the grip claw 30 can be replaced more reliably.

[Second Embodiment]
In the gripping device 1 according to the first embodiment described above, the case where the attachment / detachment mechanism for engaging and releasing the claw adapter member and the claw base member in accordance with the opening / closing operation of the opening / closing mechanism 22 has been described. The gripping device according to the second embodiment to be described next will be described with reference to an example having a form different from that of the first embodiment. Note that members that are the same as or similar to those in the first embodiment described above are given the same reference numerals, and descriptions thereof are omitted.

  FIG. 16 is a perspective view of a gripping claw according to the second embodiment of the present invention, and FIG. 17 is an exploded view of the claw base member and claw adapter member of the gripping claw according to the second embodiment of the present invention. FIG. 18 is a perspective view for explaining the structure of the claw base member of the grip claw according to the second embodiment of the present invention, and FIG. 19 is a grip device according to the second embodiment of the present invention. FIG. 20 is a perspective view for explaining the structure of the claw stocker member of the gripping claw according to the second embodiment of the present invention, and FIG. FIG. 22 is a detailed view for explaining a gripping claw replacement operation according to the second embodiment of the present invention, and FIG. 22 is a detailed view for explaining a gripping claw replacement operation according to the second embodiment of the present invention.

  As shown in FIG. 16, in the gripping device 1 ′ according to the present embodiment, the claw base member 23 ′ attached to the opening / closing mechanism 22 of the hand unit 21 moves by the operation of the arm unit (not shown), An attachment / detachment mechanism for engaging and releasing the claw base member 23 ′ and the claw adapter member 31 ′ in accordance with the ascending / descending operation is provided. Note that the gripping claw 30 ′ provided with the claw adapter member 31 ′ can be stored in the claw stocker member 50 ′, and the claw stocker member 50 ′ has a gripping claw shape that matches the shape of the gripping object. The gripping claws 30a to 30c are stored.

  Next, with reference to FIG.17 and FIG.18, the structure of the attachment / detachment mechanism of the nail | claw adapter member 31 'of the holding | grip nail | claw 30' which concerns on this embodiment, and the nail | claw base member 23 'is demonstrated. The claw adapter member 31 ′ includes a claw adapter member main body 34 ′ to which the gripping claw main body 32 is attached, and a substantially columnar connecting portion 33 ′ protruding from the claw adapter member main body 34 ′ toward the claw base member 23 ′. I have. An engaging groove 33a ′ is formed along the circumferential direction on the outer peripheral surface of the connecting portion 33 ′, and the pawl adapter member 31 is engaged with an engaging portion 25 ′ described later in the engaging groove 33a ′. 'And the claw base member 23' are engaged.

  As shown in FIG. 18, the claw base member 23 ′ includes an insertion hole 24 ′ through which the connecting portion 33 ′ of the claw adapter member 31 ′ can be inserted, and a member that is removably attached from the inner peripheral surface of the insertion hole 24 ′. A joint portion 25 ′, a rotating shaft 26 ′ that rotatably supports the engaging portion 25 ′ around the axis, and a biasing means 27 that biases the engaging portion 25 ′ in one direction around the rotating shaft 26 ′. '. The engaging portion 25 ′ is formed with a spring receiving portion 25 a ′ that comes into contact with the urging means 27 ′, and the spring receiving portion 25 a ′ receives the urging force of the urging means 27 ′ to cause the engaging portion 25 ′ to move. The distal end of the engaging portion 25 ′ is configured to protrude from the inner peripheral surface of the insertion hole 24 ′ by being urged around the rotation shaft 26 ′ (clockwise direction in FIG. 18). For example, a string spring is used as the biasing means 27 '.

  Further, a locked portion 28 ′ is formed on the proximal end side of the engaging portion 25 ′, and a locking portion 51 ′ described later comes into contact with the locked portion 28 ′ to engage the engaging portion 25 ′. Can be rotated in the direction opposite to the urging direction. The claw base member 23 'is formed with a relief groove 29' for preventing the contact with the locking portion 51 'and realizing a reliable contact between the locking portion 51' and the locked portion 28 '. Has been.

  Next, the claw stocker member 50 ′ will be described with reference to FIG. The claw stocker member 50 ′ includes a placement portion 55 ′ on which the gripping claw 30 ′ is placed and a claw attachment / detachment mechanism 60 in which the locking portion 51 ′ is rotatably assembled. The mounting portion 55 ′ is formed with a pressing portion 56 ′ that is urged in the horizontal direction with a predetermined urging force, and holds the grip claw 30 ′ with the urging force. As the pressing portion 56 ′, for example, a ball plunger that urges a spherical member in a predetermined direction with a spring or the like is preferably used.

  The claw attaching / detaching mechanism 60 includes an engaging portion 51 ′, a connecting shaft 52 ′ attached to the engaging portion 51 ′, and an actuator 54 ′ that rotates the engaging portion 51 ′ around the connecting shaft 52 ′. Yes. As shown in FIG. 20, the locking portion 51 ′ is urged around the connecting shaft 52 ′ by the second urging member 59 ′, and is attached to the actuator 54 ′ according to the linear motion of the actuator 54 ′. The arm 57 'is configured to be rotatable through an operation pin 58' formed on the arm 57 '. The connecting shaft 52 'is connected by a coupling 53' to synchronize the engaging portions 51 'by the operation of the actuator 54'.

  Next, with reference to FIGS. 16, 21, and 22, the operation of the attachment / detachment mechanism for the claw base member 23 ′ and the claw adapter member 31 ′ of the gripping device 1 ′ according to the present embodiment will be described. As shown in FIG. 16, it is preferable to attach and detach the gripping claws 30 ′ according to the present embodiment using a claw stocker member 50 ′ in which replacement gripping claws 30 a ′ to 30 c ′ are stored.

  On the claw stocker member 50 ′, replacement gripping claws 30 a ′ to 30 c ′ are placed by pressing portions 56 ′ that hold the replacement gripping claws 30 a ′ to 30 c ′ in the horizontal direction. As shown in FIG. 21A, when the claw base member 23 ′ and the claw adapter member 31 ′ are engaged, the claw base member 23 ′ attached to the hand portion 21 is mounted on the claw stocker member 50 ′. Move it on any gripping nail.

  Thereafter, as shown in FIG. 21 (b), the hand portion 21 is lowered to insert the connecting portion 33 ′ formed in the claw adapter member 31 ′ into the insertion hole 24 ′ formed in the claw base member 23 ′. Let At this time, the engaging portion 25 ′ protruding from the inner peripheral surface of the insertion hole 24 ′ by the spring stress by the urging means 27 ′ is biased so as to resist the spring stress when the connecting portion 33 ′ is inserted. It rotates in the opposite direction (counterclockwise in FIG. 21B). As shown in FIG. 21 (c), when the connecting portion 33 ′ is sufficiently inserted into the insertion hole 24 ′, the engaging portion 25 ′ is engaged with the engaging groove 33a ′ formed in the connecting portion 33 ′. The engagement between the engagement groove 33a ′ and the engagement portion 25 ′ is maintained by the spring stress by the biasing means 27 ′ shown in FIG. 18, and the engagement between the claw base member 23 ′ and the claw adapter member 31 ′ is performed.

  Next, when releasing the engagement between the claw base member 23 ′ and the claw adapter member 31 ′, as shown in FIG. 16, the mounting portion on which the replacement gripping claws 30 a ′ to 30 c ′ are not mounted The hand unit 21 is moved onto 55 '. Thereafter, the hand portion 21 is lowered in a state where the claw base member 23 ′ and the claw adapter member 31 ′ are engaged, and the claw adapter member 31 ′ is placed on the placement portion 55 ′. At this time, as shown in FIG. 20, the actuator 54 'is driven to rotate the locking portion 51' in the direction opposite to the biasing direction of the second biasing member 59 ', so that the locking portion 51' and the claw Interference with the base member 23 'is prevented. Next, as shown in FIGS. 20 and 22 (a), the actuator 54 ′ is driven in the reverse direction to release the engagement between the operating pin 58 ′ formed on the arm 57 ′ and the locking portion 51 ′. Thus, the locking portion 51 ′ is rotated in the urging direction of the second urging member 59 ′. At this time, the engaging portion 51 ′ rotated by the urging force of the second urging member 59 ′ contacts the locked portion 28 ′ of the engaging portion 25 ′, thereby rotating the engaging portion 25 ′. The engaging portion 25 ′ is rotated around the shaft 26 ′ against the urging force of the urging means 27 ′. In this state, the tip of the engaging portion 25 ′ does not protrude from the inner peripheral surface of the insertion hole 24 ′, but is immersed in the claw base member 23 ′. Therefore, the engaging portion 25 ′ and the engaging groove 33 a ′ Is disengaged.

  Thereafter, as shown in FIGS. 20 and 22B, when the hand portion 21 shown in FIG. 16 is raised, the connection between the claw base member 23 ′ and the claw adapter member 31 ′ attached to the hand portion 21 is released. Then, only the claw base member 23 'is raised while the claw adapter member 31' is placed on the placement portion 55 'shown in FIG. Then, as shown in FIG. 22 (c), when the claw base member 23 ′ is further raised, the engagement between the locking portion 51 ′ and the locked portion 28 ′ is released, and the locking portion 51 ′ is shown in FIG. It rotates around the rotation axis 26 ′ by the spring stress of the urging means 27 ′.

  As described above, the gripping claw according to this embodiment can engage and release the claw adapter member 31 ′ and the claw base member 23 ′ as the hand portion 21 moves up and down. It is possible to easily and surely replace the gripping claw without performing it.

  Further, since the engaging portion 25 ′ urged by the urging means 27 ′ protrudes from the inner peripheral surface of the insertion hole 24 ′, the claw base member 23 can be simply inserted through the connection portion 33 ′ into the insertion hole 24 ′. The engagement between 'and the claw adapter member 31' can be easily realized.

  Further, since the engagement between the claw base member 23 'and the claw adapter member 31' can be released by the locking portion 51 'rotated by the actuator 54', the claw base member 23 'and the claw adapter member 31' The release of the engagement can be easily realized.

  The present invention is not limited to the above embodiment, and various modifications can be made without departing from the scope of the present invention. For example, in the first embodiment, the case where the number of replacement gripping claws 30a to 30c placed on the claw stocker member 50 is three has been described, but the number is arbitrarily set. It doesn't matter.

  In the gripping claw 30 according to the first embodiment, the case where the claw base member 23 and the claw adapter member 31 are released when the opening / closing mechanism 22 is opened has been described. The position of the pushing protrusion or the like may be appropriately changed so that the claw base member 23 and the claw adapter member 31 are released.

  In addition, the gripping claws 30 ′ according to the second embodiment have been described with respect to the claw stocker members 50 ′ for exchanging the pair of gripping claws one by one. The gripping claws 30 ′ may be replaced at the same time.

  Further, although the gripping device according to the present embodiment has been described with respect to the gripping device including a single arm portion, a plurality of arm portions may be provided, for example, in the arm portion of a double-arm robot having both arms. A gripping device may be applied. It is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.

  22 opening / closing mechanism, 23, 23 'claw base member, 24' insertion hole, 25 'engaging portion, 26' rotating shaft, 28 engaging portion, 30, 30 'gripping claw, 31, 31' claw adapter member, 32 gripping Claw body, 33 hook member, 33 'connecting portion, 36 fixed portion, 37 urging means, 39 regulating portion, 50, 50' claw stocker member, 51 pushing projection, 51 'locking portion, 52 fixing projection, 53 fixing Maintenance mechanism, 54 Claw adapter fixing part, X Opening and closing direction.

Claims (8)

A gripping claw for gripping a gripping object,
A claw adapter member having a gripping claw body, and a claw base member having an engagement portion for attaching the claw adapter member to an opening / closing mechanism for opening and closing the gripping claw body,
The gripping claw, wherein the claw adapter member and the claw base member include an attachment / detachment mechanism that engages and disengages in accordance with the operation of the claw base member. The gripping nail according to claim 1,
The attachment / detachment mechanism engages the engagement portion formed on the claw base member by the opening / closing operation of the opening / closing mechanism formed on the engagement portion and the claw adapter member, and opens / closes the opening / closing mechanism. A gripping claw comprising: a hook member movable along a direction; and a biasing mechanism that biases the hook member in an opening / closing direction of the opening / closing mechanism. The grasping nail according to claim 2,
The claw adapter member can be placed on a claw stocker member formed with opening / closing means for operating the attachment / detachment mechanism,
The claw stocker member protrudes in the opening / closing direction, and a pressing projection for moving the hook member along the opening / closing direction is formed along with the opening / closing operation of the opening / closing mechanism. The grasping nail according to claim 2 or 3,
The hook member includes a clamp portion that engages with the engagement portion,
The gripping claw characterized in that the clamp part includes an inclined surface inclined with respect to the opening and closing direction. The gripping nail according to claim 1,
The attachment / detachment mechanism is formed in the engaging portion and the claw adapter member, and a connecting portion in which an engaging groove engageable with the engaging portion is formed on an outer peripheral surface, and the engaging portion is rotated. A claw adapter member and a claw base member having a rotation shaft supported around the shaft and a biasing means for biasing the engaging portion around the rotation shaft, as the claw base member moves up and down. A gripping claw characterized in that it engages and disengages. The grasping nail according to claim 5,
The claw base member includes an insertion hole through which the connecting portion can be inserted,
A gripping claw characterized by having the engaging portion that is removably attached from the inner peripheral surface of the insertion hole. The gripping nail according to claim 5 or 6,
The engagement between the engaging portion and the connecting portion is released by a locking portion that contacts the engaging portion so as to rotate the engaging portion in a direction opposite to the biasing direction of the biasing means. And gripping nails. A claw adapter member having a gripping claw body, a claw base member for attaching the claw adapter member to an opening / closing mechanism for opening and closing the gripping claw body, and a claw stocker member for mounting the claw adapter,
The claw stocker member has a locking portion for rotating the engaging portion engaged with the connecting portion formed in the claw adapter member when releasing the engagement between the claw base member and the claw adapter member. A gripping claw attaching / detaching mechanism comprising:

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