JP2019076997A - Holding device and gripper - Google Patents

Abstract

To provide a gripper in which a degree of freedom of designing a root part of finger therein is improved.SOLUTION: A holding device (10) according to the present invention has support wall parts (21) for supporting a finger (1), back wall parts (22) turning away from the support wall parts, and side wall parts (23) formed between the support wall parts and the back wall parts; has inside inner spaces (200) defined by the support wall parts, the back wall parts and the side wall parts; includes a base (2) to be fixed to a mover, a shaft part (31) and a head part (32) formed at one end of the shaft part; and comprises a fastening member (3) that fastens the back wall part on the base to the mover of the gripper from the inner space side. In the back wall part on the base is formed a first insertion part (221) through which the shaft part of the fastening member can be inserted, and the support wall part on the base has penetration holes (211) for fastening which communicate with the inner spaces and fasten the fastening member.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a gripping device and a gripper provided with the gripping device, and more particularly, to a gripping device for a gripper that grips and positions a work or the like in conveyance of assembly parts of products.

  In recent years, industrial robots are often employed in manufacturing sites, construction sites, and the like. For example, in a product assembly plant, various grippers are used which perform operations such as gripping and attaching a work such as a mechanical part or an electronic part to a desired position. For example, Patent Document 1 and Patent Document 2 disclose prior art related to a gripper.

JP, 2010-201515, A JP, 2009-119597, A

  Prior to the present application, the inventor considered to develop a new gripper. As a result of the examination, it became clear that there are the following issues.

FIG. 7 is a view showing the configuration of the gripper examined by the inventor prior to the present application.
The gripper 900 shown in the figure includes a pair of gripping devices 90 for gripping a work, a pair of moving elements 93 connected to the gripping devices 90, and a drive unit 95 for driving the pair of moving elements 93. ing.

  The drive unit 94 moves the pair of movers 93 in a predetermined direction (vertical direction in the drawing) by the driving force of the motor. For example, the drive unit 95 relatively moves the movers 93 in the direction in which the pair of movers 93 approach each other and in the direction away from each other.

  The gripping device 90 includes a pair of fingers 91 and a pair of bases 92 that respectively support the pair of fingers 91. The finger 91 is integrally formed with the base 92, for example.

  The base 92 is fixed to the mover 93 by a male screw 94. According to this, it becomes possible to connect the gripping device 90 and the moving element 93 securely, and the replacement of the gripping device 90 with respect to the moving element 93 becomes easy.

  However, in the gripper 900 according to the precedent examination example, since the proportion of the head of the male screw 94 on the surface 920 of the base 92 is large, the space for attaching the finger 91 to the surface 920 of the base 92 is small. The shape, thickness, attachment position, and the like of the connection portion (root portion) with the pedestal 92 are restricted.

  For example, in the gripper 900, since two holes 922 corresponding to the size of the head of the male screw 94 are formed on the surface 920 of the base 92, the position at which the finger 91 is attached and the thickness of the root portion of the finger 91 are It is limited.

  In particular, since the finger 91 can not be made thick enough, the bonding area when attaching the finger 91 to the surface 920 of the base 92 is not sufficient, and when an external force is applied to the finger 91, the finger 91 has its root portion There is a possibility that it will be broken from being broken.

  In order to increase the rigidity of the finger 91, for example, it is necessary to increase the bonding area between the finger 91 and the surface 920 of the base 92, but as described above, it is difficult because the area to which the finger 91 can be attached is limited. Met.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to improve the degree of freedom in design of the root portion of a finger in a gripper.

  A finger gripping an object according to a representative embodiment of the present invention, a support wall supporting the finger, a back wall facing the support wall, the support wall and the back A base having a side wall formed between it and a wall, and having an inner internal space defined by the support wall, the back wall, and the side wall, and fixed to a mover The base includes a base, a shaft, and a head formed at one end of the shaft, the fastening member fixing the back wall of the base to the mover from the inner space side, the base A first insertion portion through which the shaft portion of the fastening member can be inserted is formed in the back wall portion of the base, the support wall portion of the base communicates with the internal space, and the fastening member is It is characterized in that a fastening through hole for fastening is formed.

  According to one aspect of the present invention, it is possible to improve the design freedom of the root portion of the finger in the gripper.

It is a perspective view showing the composition of the gripper provided with the grasping device concerning an embodiment of the invention. It is an exploded perspective view showing a grasping device concerning an embodiment of the invention. It is a perspective view of a base. It is the top view of the base seen from the z direction negative side in FIG. 3A. It is the top view of the base seen from the y direction negative side in FIG. 3A. It is a figure for demonstrating the assembling method of the holding | gripping apparatus which concerns on embodiment of this invention. It is a figure for demonstrating the assembling method of the holding | gripping apparatus which concerns on embodiment of this invention. It is a figure for demonstrating the assembling method of the holding | gripping apparatus which concerns on embodiment of this invention. It is a figure for demonstrating the assembling method of the holding | gripping apparatus which concerns on embodiment of this invention. It is a figure for demonstrating the attachment method to the moving element of the holding | gripping apparatus which concerns on embodiment of this invention. It is a figure which shows the holding device which concerns on embodiment of this invention, and the cross section of a moving element. It is a figure which shows the structure of the gripper which this inventor examined prior to this application.

1. Overview of the Embodiments First, an overview of a typical embodiment of the invention disclosed in the present application will be described. In the following description, as an example, reference numerals on the drawings corresponding to components of the invention are described with parentheses.

  [1] A gripping device (10) according to a representative embodiment of the present invention comprises a finger (1) for gripping an object, a support wall (21) for supporting the finger, and the support wall And a side wall (23) formed between the support wall and the back wall, the support wall, the back wall, and the side wall (22). A base (2) having an inner internal space (200) defined by the side wall and fixed to the mover, a shaft (31), and a head formed at one end of the shaft ( And a fastening member (3) for fixing the back wall of the base to the mover of the gripper from the inner space side, and the back wall of the base is fastened A first insertion portion (221) through which the shaft portion of the member can be inserted is formed, and the support wall portion of the base communicates with the internal space And having a fastening holes for fastening the fastening member (211).

  [2] The gripping device may further include a plate-like member (41) which is disposed in the internal space and in which a second insertion portion (411) capable of inserting the shaft portion of the fastening member is formed. .

  [3] In the gripping device, an opening (230) through which the plate-like member can be inserted into the internal space is formed in the side wall of the base, and the first insertion portion is the back wall The groove may be a groove formed from the end face on the opening side toward the opposite side of the opening.

  [4] In the holding device, the base and the base in a state where a fastening groove formed in the head of the fastening member as viewed from the side of the support wall of the base is overlapped with the through hole for fastening You may further provide the rod-shaped member (5) comprised so that engagement was possible with both the said plate-shaped member accommodated in the said internal space.

  [5] In the gripping device, the fastening through hole is larger than a fastening groove (320) for fastening the fastening member formed in the head of the fastening member, and the outer diameter of the head You may have an internal diameter (R1) smaller than (R2).

  [6] A gripper (100) according to a representative embodiment of the present invention includes the above-mentioned gripping device, the above-mentioned mover (13) connected to the base of the gripping device by the fastening member, and And a drive unit (14) for driving the drive unit.

2. Specific Example of Embodiment Hereinafter, a specific example of the embodiment of the present invention will be described with reference to the drawings. In the following description, the same reference numerals are given to constituent elements common to the respective embodiments, and the repeated description will be omitted. In addition, it should be noted that the drawings are schematic, and the relationship between dimensions of each element, the ratio of each element, and the like may differ from reality. Even between the drawings, there may be a case where the dimensional relationships and ratios differ from one another.

FIG. 1 is a perspective view showing the configuration of a gripper provided with a gripping device according to an embodiment of the present invention. FIG. 2 is an exploded perspective view showing the gripping device according to the embodiment of the present invention.
In FIG. 1 and FIG. 2, in a three-dimensional space consisting of x-axis, y-axis and z-axis, a finger 1 described later extends in a direction parallel to the y-axis direction, and a mover 13 described later is z-axis The case where the gripper 100 is arranged to be movable in a direction parallel to the direction is shown as an example.

  The gripper 100 shown in FIG. 1 is a device used to hold a workpiece such as a mechanical component or an electronic component as an object, convey it to a desired position, and attach it.

  The gripper 100 includes a pair of gripping devices 10 for gripping a workpiece, a pair of moving elements 13 coupled to the corresponding gripping devices 10, and a drive unit 14 that drives the pair of moving elements 13. In the present embodiment, only the peripheral portion of the gripping device 10 in the gripper 100 is illustrated, and the other portions are omitted because they have a general configuration.

  The drive unit 14 accommodates therein an electric motor (not shown) as a drive source, and a pair of movers 13 via mechanical parts (not shown) such as a cam connected to the output shaft of the electric motor. Are driven to move relative to each other in the z-axis direction.

  The mover 13 is a component that moves in a predetermined direction with respect to the drive unit 14 by being driven by the drive unit 14. For example, the pair of movers 13 move relative to each other in directions approaching and away from each other (z-axis direction).

  The mover 13 has, for example, a rectangular parallelepiped shape, and has a first major surface 131 connected to the drive unit 14 and a second major surface 132 on the opposite side. The second main surface 132 is provided with a screw hole 133 formed to be engageable with an external thread 3 described later and a guide hole 134 formed to be engageable with a rod-shaped member 5 described later.

  The gripping device 10 is an assembly component for gripping an object (work) in the gripper 100, and as shown in FIGS. 1 and 2, the finger 1, the base 2, the fastening member 3, the connecting member 4, and the rod-like member It has five.

  The finger 1 is a claw-like part that holds a work, and is made of, for example, a metal material or a resin material. Examples of the metal material include iron, an alloy containing iron as a main component, and aluminum.

  The base 2 is a component for supporting the finger 1. The base 2 is integrally formed with the finger 1 by, for example, the same material as the finger 1. The specific configuration of the base 2 will be described later.

  The fastening member 3 is a fixture for fixing the base 2 to the mover 13. In the present embodiment, the case where the fastening member 3 is an external thread will be described as an example. Hereinafter, the fastening member 3 is also referred to as "male screw 3". The male screw 3 includes a shaft 31 formed with a screw, and a head 32 formed at one end of the shaft 31 and having an outer diameter R2 larger than that of the shaft 31. The head 32 is formed with a fastening groove 320 for fastening the male screw 3 using a predetermined tool. Although not particularly limited, the male screw 3 is, for example, a hexagonal bolt in which the fastening groove 320 is a hexagonal hole and has a bowl-shaped head 32.

  The connection member 4 is a component having a T-shaped cross section for connecting the base 2 and the mover 13. The connection member 4 includes, for example, plate-like members 41 and 42. The connection member 4 has a T-shaped cross section in which one main surface of the plate-like member 41 and the main surface of the plate-like member 42 are joined. The plate-like member 41 and the plate-like member 42 are integrally formed of, for example, the same material (metal material or resin material) as the base 2. The plate-like member 41 is formed with an insertion portion 411 through which the shaft portion 31 of the male screw 3 can be inserted. The insertion part 411 is a hole which penetrates one main surface and the other main surface of a plate-shaped member, for example. Further, in the plate-like member 41, a through hole 412 through which the rod-like member 5 can be inserted is formed.

  The rod-like member 5 is a guide pin that guides the attachment of the connection member 4 to the base 2 and guides the attachment of the gripping device 10 to the mover 13. The rod-shaped member 5 has, for example, a cylindrical shape formed of a metal material or a resin material.

Next, the base 2 will be described in detail.
3A to 3C are diagrams showing the configuration of the base 2. 3A shows a perspective view of the base 2, FIG. 3B shows a plan view seen from the negative side of the z direction of the base 2 shown in FIG. 3A, and FIG. 3C shows that shown in FIG. 3A. The top view seen from the y direction negative side of the base 2 is shown.

  As shown in FIGS. 3A to 3C, the base 2 includes a support wall 21 for supporting the finger 1, a back wall 22 facing the support wall 21, a support wall 21, and a back wall 22. And a side wall portion 23 formed therebetween. In the base 2, an inner internal space 200 defined by the support wall 21, the back wall 22, and the side wall 23 is formed. The base 2 is formed, for example, in a quadrangular frustum shape with the back wall 22 as the bottom and the support wall 21 as the top.

  The support wall portion 21 of the base 2 faces the positive side in the y-axis direction, communicates the support surface supporting the finger 1 with the internal space 200, and forms a fastening through hole 211 for fastening the male screw 3 It is done.

The fastening through hole 211 has an inner diameter R1 slightly larger than the fastening groove 320 of the head 32 of the male screw 3 and smaller than the outer diameter R2 of the head 32. For example, the fastening through holes 211 are respectively formed on both sides of the support wall 21 in the longitudinal direction.
Since the support wall portion 21 of the base 2 has the fastening through hole 211 with the inside diameter R1 smaller than the head portion 32 of the male screw 3, the support wall portion 21 is compared with the gripping device 90 according to the above-mentioned prior study example. In the above-mentioned support surface of the above, there is a junction area where the finger 1 having a thicker root portion can be joined.

  Further, on the back surface on the side of the support wall 21 opposite to the above-described support surface, a projection 213 projecting to the negative side in the y-axis direction is formed. The projection 213 is formed with an engagement hole 212 formed, for example, so that the rod-like member 5 can be inserted.

  As shown to FIG. 3A-FIG. 3C, the opening part 230 of the magnitude | size which can insert the plate-shaped member 41 in the internal space 200 is formed in the negative | minus side of z axial direction of the side wall part 23. FIG.

The back wall 22 of the base 2 is formed with an insertion portion 221 through which the shaft 31 of the male screw 3 can be inserted. For example, the insertion portions 221 are respectively formed on both sides in the longitudinal direction of the back wall portion 22.
For example, as shown in FIGS. 3A and 3C, the insertion portion 221 has a U shape cut away from the end face on the opening 230 side of the back wall 22 toward the opposite side of the opening 230 to a predetermined depth. Is a ditch. The insertion portion 221 is formed at a position facing the fastening through hole 211 of the support wall 21.

  In addition, the back wall 22 of the base 2 communicates with the internal space 200 between the two insertion portions 221, and the through hole 222 formed coaxially with the engagement hole 212 formed in the projection 213 Have. The through hole 222 is formed, for example, such that the rod-like member 5 can be inserted therethrough, and has the same inner diameter as the engagement hole 212.

  With the base 2 having the above configuration, the head 32 of the male screw 3 and the fastening through hole 211 of the support wall 21 are in a state where the shaft 31 of the male screw 3 is inserted into the insertion portion 411 of the plate-like member 41. It can be accommodated in the internal space 200 in a state where the shaft portion 31 of the male screw 3 is disposed facing the other and is inserted into the insertion portion 221 of the back wall portion 22 of the base 2.

Next, an assembling method of the gripping device 10 will be described.
4A to 4D are diagrams for explaining the method of assembling the gripping device 10.
First, as shown in FIG. 4A, the shaft portions 31 of the two male screws 3 are respectively inserted into the two insertion portions 411 formed in the plate-like member 41 of the connection member 4.

  Next, as shown in FIG. 4B, the connection member 4 in which the two male screws 3 are inserted is accommodated so as to slide into the internal space 200 of the base 2. Specifically, the connecting member 4 in a state where the shaft 31 of the male screw 3 is inserted into the insertion portion 411, the head 32 of the male screw 3 faces the support wall 21 and the shaft 31 of the male screw 3 is It slides into the internal space 200 from the opening 230 formed in the side wall 23 of the base 2 so as to be inserted into the insertion part 221 of the back wall 22.

  At this time, since the insertion portion 221 in the back wall portion 22 of the base 2 is a U-shaped groove as described above, a guide for guiding the connection member 4 into which the male screw 3 is inserted to an appropriate position in the internal space 200 It functions as a ditch. Thus, the connection member 4 can be inserted into the internal space 200 while the shaft portion 31 of the male screw 3 inserted into the connection member 4 is slid along the insertion portion 221 of the base 2.

  Thus, the head screw 32 of the male screw 3 is disposed to face the fastening through hole 211 of the support wall 21, and the shaft 31 is the insertion portion 411 of the plate-like member 41 and the back wall 22 of the base 2. It is arrange | positioned in the internal space 200 in the state which penetrated the penetration part 221 formed in.

  When the plate-like member 41 of the connection member 4 is accommodated in the internal space 200 of the base 2, the plate-like member 42 of the connection member 4 is arranged to cover the opening 230 of the base 2. At this time, the plate-like member 42 is in contact with, for example, an end face on the opening 230 side of the protrusion 213 formed in the internal space 200 and an end face on the opening 230 side of the back wall 22.

  Next, as shown in FIG. 4C, the rod-like member 5 is inserted through the through hole 222 formed in the back wall 22 of the base 2 and the through hole 412 of the connecting member 4 to support the support wall of the base 2 21 and the engaging hole 212 formed in the projection 213 are engaged.

The top view seen from the support wall 21 side of the base 2 of the state which the rod-shaped member 5 engaged to FIG. 4D is shown. As shown in FIG. 4D, when the rod-like member 5 engages with both the base 2 and the plate-like member 41 accommodated in the internal space 200, when the base 2 is viewed from the support wall 21, the male screw Three fastening grooves 320 overlap the fastening through holes 211. For example, the fastening groove 320 of the male screw 3 is disposed inside the fastening through hole 211. As a result, the tool (hexagonal wrench) can be inserted into the fastening through hole 211 of the base 2 and the male screw 3 can be tightened.
The gripping device 10 can be manufactured by assembling the parts according to the above procedure.

Finally, a method of attaching the gripping device 10 to the mover 13 will be described.
FIG. 5 is a view for explaining a method of attaching the gripping device 10 to the mover 13.
First, as shown in FIG. 5, the distal end portion of the rod-like member 5 protruding from the base 2 is engaged with the guide hole 134 formed in the second main surface 132 of the mover 13 to The tip end portion 31 is aligned with the screw hole 133 formed in the second major surface 132 of the mover 13.

  At this time, as shown in FIG. 4D, since the fastening groove 320 of the male screw 3 overlaps the fastening through hole 211 when viewed from the support wall 21 of the base 2, the tool (hexagonal wrench) is used as a fastening through hole The holding device 10 can be fixed to the mover 13 by inserting the screw into the housing 211 and tightening the male screw 3.

FIG. 6 is a view showing a cross section of the gripping device 10 and the mover 13. In the figure, the BB cross section of the holding | grip apparatus 10 and the moving element 13 in FIG. 1 is shown.
As shown in FIG. 6, the gripping device 10 is fixed to the base 2 by the fastening force of the male screw 3 disposed in the internal space 200. At this time, since the plate-like member 41 is interposed between the head portion 32 of the male screw 3 and the back wall 22 of the base 2, the fastening force of the male screw 3 is transmitted to the plate-like member 41. The entire back wall portion 22 of the base 2 is attached to the second main surface 132 of the mover 13 while being pressed. Thereby, the rear wall 22 of the base 2 is fixed to the mover 13 by a stronger force than in the case where the male screw 3 is directly engaged with the insertion portion 221 of the rear wall 22 of the base 2 for fastening. It becomes possible.

  The gripper 100 can be assembled by attaching the gripping device 10 to the mover 13 according to the above procedure.

  When replacing the gripping device 10 of the gripper 100, insert a tool (hexagonal wrench) into the fastening through hole 211 formed in the support wall portion 21 of the base 2 in reverse to the procedure described above. By loosening the male screw 3, the male screw 3 is removed from the screw hole 133 of the mover 13 and the rod member 5 is pulled out from the guide hole 134. Thus, the gripping device 10 can be easily removed from the gripper 100 and replaced with a new gripping device 10.

  As described above, the holding device 10 according to the present embodiment includes the support wall 21 for supporting the finger 1, the back wall 22 facing the support wall 21, and the space between the support wall 21 and the back wall 22. A base 2 having an inner space 200 formed inside with a side wall portion 23 formed on the upper surface, and a fastening member (i.e., the rear wall 22 of the base 2 is fixed to the mover 13 of the gripper 100 from the inner space 200 side) An insertion portion 221 is formed in the back wall portion 22 of the base 2 and is capable of inserting the shaft portion 31 of the external thread 3. The support wall portion 21 of the base 2 includes an internal space 200 and A fastening through hole 211 for communicating and fastening the fastening member 3 is formed.

  According to this, since the male screw 3 for fixing the base 2 to the mover 13 is accommodated in the internal space 200 of the base 2, the head of the male screw 3 is held as in the grasping device 90 according to the above-described example. It is not necessary to form a hole corresponding to the shape of the portion 32 in the support wall 21, and it is sufficient if a fastening through hole 211 for turning the male screw 3 using a tool is formed in the support wall 21.

  That is, since the fastening through hole 211 only needs to have an inner diameter R1 larger than the fastening groove 320 of the head portion 32 of the male screw 3 and smaller than the outer diameter R2 of the head portion 32, The hole 922 may be smaller than the hole 922 formed on the surface 920 of the gripping device 90 according to the present invention.

  Thereby, compared with the gripping device 90 mentioned above, in the support surface of the support wall portion 21 of the base 2, an area capable of installing the finger 1 can be secured wider, so the thick finger 1 of the root portion can be obtained. It can be formed integrally with the base 2, and the degree of freedom in design of the root portion of the finger is improved.

Further, in the holding device 10 according to the present embodiment, the shaft portion 31 of the male screw 3 is inserted between the head portion 32 of the male screw 3 and the back wall 22 of the base 2 in the internal space 200 of the base 2 The plate-like member 41 in which the possible penetration part 411 was formed is arrange | positioned.
According to this, as described above, the back wall 22 of the base 2 can be pressed against the second main surface 132 of the mover 13 with the entire plate-like member 41 by fastening the male screw 3. The base 2 can be fixed to the mover 13 more strongly than in the case where the back wall 22 of the base 2 is screwed to the mover 13 without using the ring-shaped member 41.

  Further, in the side wall 23 of one side of the base 2 having a rectangular shape in plan view, in the holding device 10 according to the present embodiment, an opening capable of inserting the plate-like member 41 (connection member 4) into the internal space 200. 230 is formed, and the insertion portion 221 of the base 2 is a groove formed from the end face on the opening 230 side of the back wall 22 toward the opposite side of the opening 230.

  According to this, as described above, since the insertion portion 221 formed in the back wall portion 22 of the base 2 functions as a guide groove, the shaft portion 31 of the male screw 3 inserted into the connection member 4 is used as the base 2 The connection member 4 can be smoothly inserted into the internal space 200 while being slid along the insertion portion 221 of the above. As a result, the work of housing the plate-like member 41 in a state in which the shaft portion 31 of the male screw 3 is inserted into the internal space 200 of the base 2 is facilitated.

  Further, in the gripping device 10 according to the present embodiment, the rod member 5 is an internal space in a state where the fastening groove 320 of the male screw 3 overlaps the fastening through hole 211 when viewed from the support wall 21 side of the base 2 It can be engaged with both the plate-like member 41 housed in 200 and the base 2.

  According to this, since the rod-like member 5 defines the positional relationship between both the plate-like member 41 and the base 2, the user can fasten the fastening groove 320 of the male screw 3 when fastening the male screw 3 using a tool. The work of fitting the fastening through hole 211 is not necessary, and the fastening work of the male screw 3 is facilitated.

  Further, by engaging the rod-like member 5 with the base 2, the connection member 4 and the male screw 3 can be prevented from coming off and scattering from the base 2, so that the handling of the gripping device 10 becomes easy.

  Furthermore, as shown in FIG. 2 and FIG. 5, when attaching the gripping device 10 to the mover 13, the guide hole 134 corresponding to the rod-like member 5 is formed in advance on the mover 13. Position alignment with the formed screw hole 133 and the external thread 3 becomes easy, and the attachment operation | work to the moving element 13 of the holding | grip apparatus 10 becomes easy.

<< Extension of the embodiment >>
Although the invention made by the inventors has been specifically described based on the embodiment, the present invention is not limited thereto, and it goes without saying that various modifications can be made without departing from the scope of the invention. Yes.

  For example, in the above embodiment, the connection member 4 is disposed in the internal space 200, and the case where the base 2 is fastened to the mover 13 with the male screw 3 via the connection member 4 is illustrated. It is also possible to fasten the back wall 22 of the base 2 directly with the male screw 3 without using the member 41).

  Moreover, although the case where the penetration part 221 formed in the back wall part 22 of the base 2 is a U-shaped groove was illustrated in the said embodiment, it is not restricted to this. For example, the insertion portion 221 may be a hole penetrating the back wall portion 22. In this case, the male screw 3 is inserted into the internal space 200 of the base 2, and the area of the opening 230 of the side wall 23 is sufficiently expanded so that the shaft 31 of the male screw 3 can be inserted into the hole. In addition, it is necessary to use the male screw 3 whose shaft 31 is short.

  Moreover, although the nail | claw-like finger 1 was illustrated in the said embodiment, the shape in particular of the finger 1 is not restrict | limited. For example, it may be a finger 1 shaped like a gripping device 90 shown in FIG.

  Moreover, although the case where the base 2 was a planar view rectangular shape was illustrated in the said embodiment, if it is the structure which can be connected with the moving element 13, the shape in particular of the base 2 will not be restrict | limited. For example, the base 2 may be dome-shaped.

DESCRIPTION OF SYMBOLS 1 ... finger, 2 ... base, 3 ... fastening member (male screw), 4 ... connection member, 5 ... rod-like member, 10 ... gripping device, 13 ... moving element, 14 ... driving part, 21 ... support wall part, 22 ... Back wall portion 23 side wall portion 31 shaft portion 32 head portion 41, 42 plate member 100 gripper 110 first main surface 132 second main surface 133 screw hole DESCRIPTION OF SYMBOLS 134 ... Guide hole, 200 ... Internal space, 211 ... Through-hole for fastening, 222, 412 ... Through-hole, 212 ... Engagement hole, 213 ... Projection part, 221, 411 ... Insertion part, 230 ... Opening part, 320 ... Fastening Groove, R1 ... inside diameter, R2 ... outside diameter

Claims (6)

A finger gripping an object,
A support wall portion for supporting the finger, a back wall portion facing the support wall portion, and a side wall portion formed between the support wall portion and the back wall portion, the support wall portion A base fixed to the mover, having a back wall portion, and an inner internal space defined by the side wall portion;
And a fastening member including a shaft and a head formed at one end of the shaft, the fastening member fixing the back wall of the base to the mover from the inner space side.
The back wall portion of the base is formed with a first insertion portion through which the shaft portion of the fastening member can be inserted.
A holding through hole is formed in the support wall portion of the base in communication with the internal space to fasten the fastening member. In the gripping device according to claim 1,
A gripping device further comprising a plate-like member disposed in the internal space and having a second insertion portion formed therein, the second insertion portion being capable of inserting the shaft portion of the fastening member. In the gripping device according to claim 2,
An opening capable of inserting the plate-like member into the internal space is formed in the side wall of the base.
The gripping device according to claim 1, wherein the first insertion portion is a groove formed from an end face on the opening side of the back wall toward the opposite side of the opening. In the gripping device according to claim 2 or 3,
The fastening groove formed in the head of the fastening member seen from the side of the support wall portion of the base is accommodated in the base and the internal space in a state where the fastening groove overlaps the fastening through hole. A gripping device further comprising a rod-like member configured to be engageable with both of a plate-like member. The gripping device according to claim 1 or 2
The fastening through hole has an inner diameter larger than a fastening groove for fastening the fastening member formed in the head of the fastening member and smaller than an outer diameter of the head. Gripping device. A gripping device according to any one of claims 1 to 5;
The mover coupled to the base of the gripping device by the fastening member;
And a drive unit for driving the mover.

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