JP2019111590A - Holding device - Google Patents

Abstract

To provide a holding device which can hold various kinds of holding objects having different external dimensions and enables downsizing.SOLUTION: A holding device includes: a base part; a first link mechanism including a first link part which is provided so as to be able to swing around a first rotation axis intersecting with a surface of the base part, a second link part in which one end side is swingably connected to the first link part and the other end side is connected to a first finger part, and a first support part provided at the base part and supporting the second link part; and a first driving device which drives the first link part. In the second link part, a first elongated hole is provided along a longitudinal direction of the second link part. The first support part is disposed in the first elongated hole, and the second link part and the first finger part are swingably provided at the base part.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a gripping device.

  When performing an assembly operation or a handling operation, a gripping device attached to a robot or the like to grip various components is used. The gripping device described in Patent Document 1 is provided with a plurality of types of gripping claws inside a housing. The gripping device of Patent Document 1 switches the gripping claws by rotating the gripping claws, and performs the opening / closing operation by moving the gripping claws in a parallel direction. Thereby, various parts are gripped. Further, the robot hand described in Patent Document 2 performs an opening and closing operation by swinging a claw provided on a frame about a fulcrum pin. This holds the part.

JP, 2015-471, A Japanese Patent Laid-Open No. 2000-288971

  In such a gripping device, there are cases where components are taken out so as not to interfere with other components in an environment where many components are arranged, or components are installed in a narrow space. For this reason, downsizing of the gripping device is required. On the other hand, it is required to increase the opening and closing stroke of the gripping claws so as to be able to cope with a wide variety of parts having different outer diameter shapes and sizes.

  In Patent Document 1, since a plurality of types of gripping claws are provided inside the housing, the size of the opening / closing stroke of the gripping claws is limited by the size of the housing. In order to enlarge the opening and closing stroke of the gripping claws, it is necessary to enlarge the housing itself, which may make miniaturization difficult. In patent document 2, a pair of nail | claw each rock | fluctuates centering on a fulcrum pin. For this reason, the distance between the tip of the claw and the frame changes in the direction perpendicular to the virtual line connecting the fulcrum pins. Changes in the position of the nail can make it difficult to grip the part.

  An object of the present invention is to provide a gripping device capable of gripping various gripping objects having different outer dimensions and capable of downsizing.

  A gripping device according to one aspect of the present invention includes a base, a first link portion swingably provided about a first rotation axis intersecting the surface of the base, and an end of the first link portion. A second link including a second link connected swingably and having the other end connected to the first finger, and a first support provided on the base and supporting the second link And a first drive device for driving the first link portion, wherein the second link portion is provided with a first elongated hole along the longitudinal direction of the second link portion. A first support portion is disposed inside the first elongated hole, and the second link portion and the first finger portion are provided swingably on the base.

  As a result, the first finger portion is provided swingably with respect to the base by the operation of the first link mechanism, so that the movable range of the first finger portion can be increased. In addition, by swinging the first link, the opening and closing operation of the first finger connected to the second link is performed, and the second link and the first finger are adjusted according to the opening angle of the first finger. The length of the portion outside the periphery of the base can be changed. Thus, the gripping device can perform the opening and closing operation of the first finger in a state in which the distance between the base and the tip of the first finger is kept constant at a predetermined size. Therefore, the gripping device according to this aspect can grip various gripping objects having different outer dimensions, and can be miniaturized.

  In the gripping device according to one aspect of the present invention, a third link portion swingably provided on the base around a second rotation axis different from the first rotation axis, and one end of the third link portion A second link mechanism including a fourth link portion swingably connected to the other, and the other end side connected to the second finger portion, and a second support portion supporting the fourth link portion, and the third link mechanism And a second driving device for driving the link portion, wherein the fourth link portion is provided with an elongated hole along the longitudinal direction of the fourth link portion, and the second support portion is the elongated hole. And the fourth link portion and the second finger portion are swingably provided on the base.

  Thereby, the holding | grip apparatus can enlarge the opening-and-closing amount of a 1st finger part and a 2nd finger part. In addition, while performing the opening and closing operation of the second finger connected to the fourth link, according to the opening and closing angle of the second finger, the fourth link and the second finger outside the outer periphery of the base You can change the length of the part. Thus, the gripping device can perform the opening / closing operation in a state in which the distance between the base and the tip of the second finger is kept constant at a predetermined size.

  In the gripping device according to one aspect of the present invention, a third link portion swingably provided on the base around a second rotation axis different from the first rotation axis, and one end of the third link portion A second link mechanism including a fourth link portion swingably connected to the second link portion and a second support portion supporting the fourth link portion, the other end side of the second link portion, and the fourth link portion And a connecting portion connecting the other end side of the link portion, and the first finger portion is connected to the second link portion via the connecting portion.

  Thus, the first link mechanism, the second link mechanism, and the connecting portion operate as a parallel link mechanism. The connecting portion moves with the angle between the base and the connecting portion kept constant at a predetermined size. Therefore, the gripping device can move the first finger in parallel, and can easily grip the gripping target.

  In the gripping device according to one aspect of the present invention, a third link portion swingably provided on the base around a second rotation axis different from the first rotation axis, and one end of the third link portion A second link mechanism including a fourth link portion swingably connected to the second finger portion at the other end side, and the first link portion coupled with the second link mechanism, and the first link portion together with the first link portion It has the 1st gear which can be rotated centering on 1 rotation axis, and the 2nd gear which is connected with the 3rd link part and meshes with the 1st gear.

  Thereby, the driving force of the first drive device is transmitted to the second link mechanism via the first gear and the second gear, and the opening and closing operation of the fourth link and the second finger can be performed. That is, the gripping device can perform the opening and closing operation of the two finger portions with one drive device. Therefore, the gripping device is miniaturized.

  In the gripping device according to one aspect of the present invention, a second finger portion facing the first finger portion is provided, and the second finger portion is fixed in position with respect to the base portion.

  This eliminates the need for the link mechanism and the drive device for performing the opening and closing operation of the second finger. For this reason, the size of the base can be reduced. Therefore, the gripping device is miniaturized.

  ADVANTAGE OF THE INVENTION According to this invention, while being able to hold | grip various holding | grip objects which differ in an outside dimension, size reduction is possible.

FIG. 1 is a view showing a schematic configuration of a picking device having a gripping device according to the first embodiment. FIG. 2 is a perspective view of the gripping device according to the first embodiment. FIG. 3 is a front view of the gripping device according to the first embodiment. FIG. 4 is a front view for explaining the opening and closing operation of the gripping device according to the first embodiment. FIG. 5 is a front view for explaining the opening and closing operation of the gripping device according to the first embodiment. FIG. 6 is a control block diagram of the gripping device according to the first embodiment. FIG. 7 is an example of a graph showing the relationship between the opening / closing amount of the first finger and the gripping force. FIG. 8 is a front view of the gripping device according to the second embodiment. FIG. 9 is a control block diagram of the gripping device according to the second embodiment. FIG. 10 is a front view of the gripping device according to the third embodiment. FIG. 11 is a front view of the gripping device according to the fourth embodiment. FIG. 12 is a view showing another example of a schematic configuration of a picking device having a gripping device.

  A mode (embodiment) for carrying out the present invention will be described in detail with reference to the drawings. The present invention is not limited by the contents described in the following embodiments. Further, the components described below include those which can be easily conceived by those skilled in the art and those which are substantially the same. Furthermore, the components described below can be combined as appropriate.

First Embodiment
FIG. 1 is a view showing a schematic configuration of a picking device having a gripping device according to the first embodiment. The picking device 200 according to the present embodiment is for picking and transporting work 215 (object to be gripped) stacked and stored at random in a tray 213 in the work area 214.

  As shown in FIG. 1, the picking device 200 of the present embodiment includes an articulated arm 202 and a gripping device 1. The gripping device 1 is attached to the tip of the articulated arm 202. The articulated arm 202 and the gripping device 1 are controlled in position and attitude by a controller 204.

  The articulated arm 202 is placed on the base 203. The articulated arm 202 includes, in order from the base 203, a first arm portion 221a, a second arm portion 221b, a third arm portion 221c, and a fourth arm portion 221d.

  The first arm portion 221a is rotatably connected to the base 203 via the first arm shaft 222a. The second arm portion 221 b is rotatably connected to the first arm portion 221 a via a second arm shaft 222 b. The third arm portion 221c is rotatably connected to the second arm portion 221b via a third arm shaft 222c. The fourth arm portion 221 d is rotatably connected to the third arm portion 221 c via a fourth arm shaft 222 d. The hand effector 223 is rotatably coupled to the tip of the fourth arm portion 221d via the fifth arm shaft 222e.

  Each of the first arm shaft 222a, the second arm shaft 222b, the third arm shaft 222c, the fourth arm shaft 222d and the fifth arm shaft 222e is provided with a rotary actuator (not shown) as a drive unit.

  The gripping device 1 is attached to the hand effector 223. That is, the gripping device 1 is supported by the articulated arm 202 via the hand effector 223. By the opening and closing operation of the first finger unit 21 and the second finger unit 22 of the gripping device 1, picking and conveyance work of the work 215 can be performed.

  Further, a force sensor 207 is attached between the hand effector 223 and the gripping device 1. The force sensor 207 is configured by combining, for example, a strain gauge or a piezoelectric element. The force sensor 207 can simultaneously detect magnitudes of forces acting in directions of three axes orthogonal to each other and magnitudes of moments acting around the respective axes. The control device 204 analyzes the input signal from the force sensor 207 to determine the force acting on the gripping device 1 (for example, the gripping force acting between the first finger 21 and the second finger 22). It can be detected.

  The force sensor 207 can be provided, for example, on at least one of the gripping surface GS1 (see FIG. 2) of the first finger 21 and the gripping surface GS2 (see FIG. 2) of the second finger 22. As a result, the control device 204 detects the force acting on the gripping device 1 such as the presence or absence of the workpiece 215, the gripping force when gripping the workpiece 215, and enables highly reliable control.

  An eyelid sensor 205 is provided at a predetermined position in the work area 214. As the eyelid sensor 205, for example, a distance image camera or an infrared sensor is used. The control device 204 can grasp the positions of the picking device 200 and the work 215 in the tray 213 by analyzing the image captured by the blurring sensor 205.

  A hand eye sensor 206 is attached to the hand effector 223. As the hand eye sensor 206, for example, a stereo 3D camera or a laser scanner is used. The controller 204 can detect the three-dimensional shape of the workpiece 215 by analyzing the image captured by the hand eye sensor 206.

  Next, the configuration of the gripping device 1 will be described. FIG. 2 is a perspective view of the gripping device according to the first embodiment. FIG. 3 is a front view of the gripping device according to the first embodiment. In FIG. 3, the cover 11 is omitted to make the drawing easy to see.

  In the following description, the first direction Dx, the second direction Dy and the third direction Dz are used. A direction parallel to the first surface 10 c of the base 10 is referred to as a first direction Dx and a second direction Dy. A direction perpendicular to the first surface 10c of the base 10 is taken as a third direction Dz. The third direction Dz is a direction perpendicular to both the first direction Dx and the second direction Dy. The first direction Dx is a direction perpendicular to the second direction Dy. The present invention is not limited to this, and the first direction Dx may intersect with the second direction Dy at an angle other than 90 °. The third direction Dz may intersect the first direction Dx and the second direction Dy at an angle other than 90 °. Moreover, "front view" means the case where it sees from the 3rd direction Dz.

  As shown in FIG. 2, the gripping device 1 of the present embodiment includes a drive device 102, a base 10, a link mechanism 3, a first finger 21, and a second finger 22. As shown in FIG.2 and FIG.3, the base 10 is a plate-shaped member which has the 1st surface 10c and the 2nd surface 10d on the opposite side to the 1st surface 10c. The base 10 has a rectangular shape having a side 10 a and a side 10 b facing each other in a front view. The base 10 is not limited to this, and may have a polygonal shape, a circular shape, an elliptical shape, or the like.

  As shown in FIG. 2, the gripping device 1 further includes a cover 11 and a plurality of columns 12. The cover 11 faces the first surface 10 c of the base 10. The plurality of columns 12 are provided between the cover 11 and the base 10, respectively. Screw holes are provided at both ends of the plurality of columns 12. One end of the plurality of columns 12 is fixed to the cover 11 by screwing. Further, the other ends of the plurality of columns 12 are fixed to the base 10 by screwing.

  The driving device 102 is a device that drives the link mechanism 3 and the first finger 21 and is, for example, a rotary actuator. A rotary motor or the like can be used as the rotary actuator. The drive device 102 includes a shaft 102a that rotates. The drive device 102 is provided on the second surface 10 d side of the base 10. The base 10 is provided with a plurality of screw holes 10 e and openings 10 f. The drive device 102 is fixed to the second surface 10d of the base 10 by screwing, for example, through a screw hole 10e. The shaft 102a extends to the first surface 10c through the opening 10f.

  The link mechanism 3 includes a first link portion 31, a second link portion 32, a support portion 33, and a pin 34. The first link 31, the support 33 and the pin 34 are disposed in the space between the cover 11 and the base 10. The second link portion 32 extends from the space between the cover 11 and the base 10 to the outer space.

  As shown in FIG. 3, the first link portion 31 is fixed to the shaft 102 a. Thereby, the first link portion 31 is driven by the rotation operation of the shaft 102 a of the drive device 102. The first link portion 31 is provided swingably around the first axis AX1. Here, the first axis AX1 is a rotation axis of the shaft 102a, and is provided along the third direction Dz.

  One end side of the second link portion 32 is connected to the first link portion 31 via the pin 34. The second link portion 32 is provided swingably with respect to the first link portion 31 about the second axis AX2. Here, the second axis AX2 is a central axis of the pin 34, and is provided along the third direction Dz. The other end of the second link 32 is connected to the first finger 21. Further, the second link portion 32 is provided with a long hole 35 along the longitudinal direction of the second link portion 32. The long hole 35 is formed to penetrate the second link portion 32 in the third direction Dz. The long hole 35 has a first inner wall 35 a and a second inner wall 35 b. The first inner wall 35 a and the second inner wall 35 b are opposed to each other in the longitudinal direction of the second link portion 32. The first inner wall 35 a is provided on one end side of the second link portion 32, and the second inner wall 35 b is provided on the other end side of the second link portion 32. The long hole 35 has a length Lh along the longitudinal direction of the second link portion 32. In other words, the length Lh is the distance between the first inner wall 35a and the second inner wall 35b. The second link portion 32 has a portion overlapping with the base 10 and a portion disposed outside the side 10 b of the outer periphery of the base 10 in a front view.

  As shown in FIG. 2, the support portion 33 is a columnar member extending in the third direction Dz. The support portion 33 is fixed between the cover 11 and the base 10. As shown in FIG. 3, the support portion 33 is disposed inside the elongated hole 35 to support the second link portion 32. Thereby, the second link portion 32 and the first finger portion 21 are provided swingably on the base 10 with the third axis AX3 as a fulcrum. The second link 32 and the first finger 21 are provided movably in the longitudinal direction of the second link 32. That is, the second link portion 32 moves so that the positional relationship between the long hole 35 and the support portion 33 in the longitudinal direction changes. Here, the third axis AX3 is a central axis of the support portion 33, and is provided along the third direction Dz.

  The first finger portion 21 has a fixed portion 21 a and a grip portion 21 b. As shown in FIG. 2, the first finger portion 21 is a plate-like member. The fixing portion 21 a is fixed to the second link portion 32 by screwing via a screw hole 32 b provided on the other end side of the second link portion 32. The gripping portion 21b has a curved shape. The gripping portion 21 b is convex in the direction away from the second finger portion 22.

  As shown in FIG. 2, the second finger 22 is fixed to the cover 11 via the connection member 15. The connection member 15 is a member for connecting the cover 11 and the second finger portion 22 and has, for example, a rectangular parallelepiped shape. The connection member 15 is provided between the cover 11 and the base 10 and fixed to the surface of the cover 11 facing the base 10. The second finger portion 22 has a fixed portion 22a, an inclined portion 22b, and a grip portion 22c. The fixing portion 22 a has a flat plate shape extending in the second direction Dy, and is fixed to the connection member 15. The inclined portion 22 b is inclined in a direction away from the link mechanism 3 and the first finger portion 21 with respect to the fixed portion 22 a. The gripping portion 22c is a flat plate-like member connected to the inclined portion 22b and extending in the second direction Dy. Thus, the second finger 22 is fixed in position with respect to the base 10 and is provided to face the first finger 21. The work 215 is gripped between the gripping portion 21 b and the gripping portion 22 c by the opening and closing operation of the second link portion 32 and the first finger portion 21.

  Since the second finger portion 22 has the inclined portion 22 b, the position of the grip portion 22 c in the first direction Dx is provided outside the position of the base 10 in the first direction Dx. Therefore, the gripping device 1 can grip the workpiece 215 larger than the width of the base 10 in the first direction Dx.

  The shapes of the first finger 21 and the second finger 22 are merely examples and can be changed as appropriate. Further, the configurations of the cover 11 and the support 12 are also merely examples and can be appropriately changed. For example, the cover 11 may be a housing provided integrally with the base 10 and surrounding a part of the link mechanism 3 and the second finger 22. Also, the second finger 22 may be fixed to the base 10.

  Next, the opening / closing operation of the gripping device 1 of the present embodiment will be described with reference to FIGS. 3, 4 and 5. FIG.4 and FIG.5 is a front view for demonstrating the opening and closing operation of the holding | gripping apparatus which concerns on 1st Embodiment. FIG. 3 shows a state in which the first finger 21 and the second finger 22 are closed. Specifically, in the closed state, the distance L2 in the first direction Dx between the end 21d of the first finger 21 and the end 22d of the second finger 22 (see FIGS. 4 and 5) Is the smallest state. In the present embodiment, the end 21 d of the first finger 21 is the tip of the grip 21 b and is a portion overlapping the virtual line A1 when viewed from the third direction Dz. The virtual line A1 is a straight line passing through the second axis AX2 of the pin 34 and the third axis AX3 of the support portion 33 in a front view. The end 22d of the second finger 22 is the tip of the grip 22c, and is the portion most distant from the base 10 in the second direction Dy when viewed from the third direction Dz.

  As shown in FIG. 3, in the closed state, the driving device 102 drives the first link portion 31 so that the first link portion 31 and the pin 34 are on the opposite side of the second finger portion 22 with respect to the virtual line A2. Located in Here, the imaginary line A2 is a straight line passing through the first axis AX1 of the shaft 102a and the third axis AX3 of the support portion 33 in a front view. In the present embodiment, the virtual line A2 is a direction parallel to the second direction Dy. As described above, the second link portion 32 and the first finger portion 21 swing around the third axis AX3. As a result, the other end side of the second link portion 32 and the first finger portion 21 are directed in a direction approaching the second finger portion 22 with respect to the imaginary line A2. In the closed state, the support portion 33 is positioned on the first inner wall 35 a side of the elongated hole 35. Thereby, the position of the second link portion 32 in the longitudinal direction such that the length of the portion of the second link portion 32 not overlapping the base 10, in other words, the length of the portion outside the side 10b of the base 10 becomes longer. Move.

  Here, the distance L1 is a tip portion of the first finger portion 21 and the second finger portion 22, and is a portion between the portion 10b most distant from the side 10b of the base 10 in the second direction Dy and the side 10b of the base 10 The distance in the second direction Dy of Further, an angle formed by the virtual line A1 and the virtual line A2 is set as the open / close angle θ1 of the second link portion 32 and the first finger portion 21. In the closed state illustrated in FIG. 3, the end 21 d of the first finger 21 and the end 22 d of the second finger 22 are in contact with each other, but the present invention is not limited thereto. In the closed state, the end 21 d of the first finger 21 and the end 22 d of the second finger 22 may be separated.

  FIG. 4 shows an intermediate state between the closed state and the open state. As shown in FIG. 4, when the drive device 102 drives the first link portion 31, the first link portion 31 and the pin 34 rotate the first axis AX1 from the state shown in FIG. 3 along with the rotation of the shaft 102 a. Move in the direction of the arrow RCW (counterclockwise direction) around the center. Thereby, the other end side of the second link portion 32 and the pin 34 are located on the opposite side of the support portion 33 with respect to the shaft 102 a. The second link portion 32 and the first finger portion 21 are oriented parallel to the imaginary line A2. In FIG. 4, the position of the second axis AX2 of the pin 34 overlaps the virtual line A2 when viewed from the third direction Dz. Further, since the virtual line A1 and the virtual line A2 overlap with each other, the open / close angle θ1 (see FIG. 3) is 0 °. The distance L2 in the first direction Dx between the end 21d of the first finger 21 and the end 22d of the second finger 22 is larger than in the closed state.

  Further, in the intermediate state shown in FIG. 4, the distance between the pin 34 and the support portion 33 is larger than that in the closed state. One end side of the second link portion 32 moves in a direction away from the support portion 33 in the second direction Dy. In this case, the long hole 35 is at a position overlapping the base 10 in a front view, and the support portion 33 is located on the second inner wall 35 b side of the long hole 35. That is, the position of the second link portion 32 in the longitudinal direction is set such that the portion of the second link portion 32 which does not overlap with the base portion 10, in other words, the length of the portion outside the side 10b of the base portion 10 becomes short. Moving. Thus, the length of the part outside the side 10b of the base 10 among the 2nd link parts 32 becomes short, so that opening-and-closing angle theta 1 becomes small. The distance L1 in the intermediate state shown in FIG. 4 coincides with the distance L1 in the closed state of FIG. The distance L1 in this case is a distance between the end 21d of the first finger 21 and the end 22d of the second finger 22 and the side 10b of the base 10 in the second direction Dy. As a result, the open / close angle θ1 of the first finger portion 21 and the second link portion 32 changes while maintaining a constant distance L1.

  FIG. 5 shows a state in which the first finger 21 and the second finger 22 are open. As shown in FIG. 5, when the drive device 102 drives the first link portion 31, the first link portion 31 and the pin 34 rotate along with the shaft 102a, and from the state shown in FIG. Move in the direction of the arrow RCW (counterclockwise direction) around the. Thereby, the second link portion 32 and the first finger portion 21 swing with the third axis AX3 of the support portion 33 as a fulcrum. The other end side of the second link 32 and the first finger 21 are directed in a direction away from the second finger 22 with respect to the imaginary line A2.

  By such an operation, the open / close angle θ1 of the first finger portion 21 is increased. The distance L2 in the first direction Dx between the end 21d of the first finger 21 and the end 22d of the second finger 22 is larger than that in the intermediate state of FIG. In the open state shown in FIG. 5, the distance L2 is larger than the width of the base 10 in the first direction Dx.

  Further, in the open state shown in FIG. 5, the distance between the pin 34 and the support portion 33 is smaller than in the intermediate state in FIG. 4. For this reason, the second link portion 32 moves so as to be pushed out of the base 10, and one end side of the second link portion 32 moves in the direction approaching the support portion 33 in the second direction Dy. The long hole 35 moves to a position not overlapping the base 10 in a front view. The support portion 33 is positioned on the first inner wall 35 a side of the elongated hole 35. Thus, the length of the second link portion 32 in the longitudinal direction is set such that the length of the portion of the second link portion 32 which does not overlap with the base 10, in other words, the length of the portion outside the side 10b of the base 10 is longer. The position moves. The distance L1 in the open state shown in FIG. 5 coincides with the distance L1 in the closed state of FIG. 3 and the distance L1 in the intermediate state of FIG. As a result, the first finger portion 21 and the second link portion 32 are in an open state while maintaining a constant distance L1.

  As shown in FIGS. 3 to 5, the length Lh of the elongated hole 35 is longer than the length (first distance r1) between the first axis AX1 and the second axis AX2. As a result, the gripping device 1 can smoothly operate the link mechanism 3 from the closed state (see FIG. 3) to the open state (see FIG. 5) or from the open state to the closed state. The length Lh of the long hole 35 may be provided such that the support portion 33 contacts the first inner wall 35 a of the long hole 35 in the closed state or the open state. Thereby, the long hole 35 and the support part 33 can also have a function of a stopper.

  As described above, the gripping device 1 of the present embodiment includes the base 10, the link mechanism 3, and the drive device 102. The link mechanism 3 includes a first link portion 31, a second link portion 32, and a support portion 33. The first link portion 31 is provided swingably around a first axis AX1 (first rotation axis) intersecting with the first surface 10c (surface) of the base 10. One end side of the second link portion 32 is swingably connected to the first link portion 31, and the other end side is connected to the first finger portion 21. The support 33 is provided on the base 10 and supports the second link 32. The second link portion 32 is provided with a long hole 35 along the longitudinal direction of the second link portion 32. The support portion 33 is disposed inside the elongated hole 35, and the second link portion 32 and the first finger portion 21 are provided swingably on the base 10.

  As a result, the first finger portion 21 is provided swingably with respect to the base 10 by the operation of the link mechanism 3, so that the movable range of the first finger portion 21 can be increased. That is, the distance L2 in the first direction Dx between the end 21d of the first finger 21 and the end 22d of the second finger 22 is larger than the width of the base 10 in the first direction Dx. Therefore, the gripping device 1 can reduce the size of the gripping device 1 by suppressing an increase in the width of the base 10, and can grip various gripping objects having different outer diameter shapes.

  In addition, while the opening and closing operation of the first finger unit 21 connected to the second link unit 32 is performed by the swinging of the first link unit 31, the second link unit according to the opening angle θ1 of the first finger unit 21. The length of the portion of the finger 32 and the first finger 21 outside the periphery of the base 10 can be changed. Thereby, the opening and closing operation of the first finger 21 can be performed in a state where the distance between the base 10 and the tip of the first finger 21 is kept constant at a predetermined size (distance L1). Thus, the gripping device 1 can suppress the end 21 d of the first finger 21 from coming into contact with the bottom surface or the like of the tray 213 (see FIG. 1) during the opening / closing operation. Therefore, various gripping objects having different outer diameter shapes can be easily gripped.

  In addition, the gripping device 1 may be configured without providing an ATC (Auto Tool changer) for exchanging the first finger 21 and the second finger 22. Furthermore, it is not necessary to adjust the height according to the degree of opening and closing of the first finger 21 and the second finger 22 on the side of the articulated arm 202 (see FIG. 1) of the robot that operates the gripping device 1. The gripping device 1 can simplify the control program of the robot and the operation of the robot, and can shorten the lead time.

  FIG. 6 is a control block diagram of the gripping device according to the first embodiment. FIG. 7 is an example of a graph showing the relationship between the opening / closing amount of the first finger and the gripping force. The control device 101 is a computer such as a personal computer (PC) or a server system. Control device 101 includes a storage unit 101A and an operation unit 101B. The storage unit 101A includes a hard disk, a random access memory (RAM), a read only memory (ROM), and the like. Arithmetic unit 101B includes a CPU (Central Processing Unit) and the like.

  The input unit 110 is an information input device such as a keyboard or a touch panel. Information or an operation program related to the operation of the gripping device 1 is input to the storage unit 101A from the input unit 110.

  The drive device 102 operates in accordance with a control signal from the control device 101. The opening / closing operation of the link mechanism 3 and the first finger unit 21 described above is performed by the driving force input from the driving device 102. Specifically, the driving force generated by the driving device 102 is transmitted to the shaft 102 a, the first link portion 31 and the second link portion 32. By the movement of the first link portion 31 and the second link portion 32, the opening and closing operation of the first finger portion 21 is performed.

  The sensor unit 103 includes, for example, a displacement sensor, an angle sensor, a speed sensor, a pressure sensor, and the like. The sensor unit 103 also includes a force sensor 207 shown in FIG. The sensor unit 103 detects the operation state of the first finger unit 21 and outputs various information to the control device 101. The control device 101 drives the drive device 102 according to the operation state of the first finger unit 21 and the second finger unit 22.

  For example, the control device 101 may drive the drive device 102 based on the displacement, the open / close angle, the speed, etc. of the first finger portion 21. For example, the control device 101 may drive the drive device 102 based on the gripping force. The gripping force is a force applied to a gripping object sandwiched by the first finger 21 and the second finger 22. That is, it can be said that the gripping force is a reaction force that the first finger unit 21 and the second finger unit 22 receive from the gripping target. Further, the control device 101 may drive the drive device 102 based on information in which the displacement, the open / close angle, the speed, the gripping force, and the like of the first finger unit 21 and the second finger unit 22 are combined.

  The horizontal axis of the graph shown in FIG. 7 indicates the opening / closing amount of the first finger 21, that is, in the first direction Dx between the end 21 d of the first finger 21 and the end 22 d of the second finger 22. Indicates the distance L2. The vertical axis indicates the gripping force. As shown in FIG. 7, the gripping force of the gripping device 1 is substantially constant regardless of the distance L2. Therefore, the control device 101 can easily control the gripping force. For example, when gripping a flexible food or the like, the gripping device 1 can control the gripping force so that the food is not deformed or crushed.

  Here, as shown in FIG. 3, the distance between the first axis AX1 and the second axis AX2 in a front view is taken as a first distance r1. A distance between the first axis AX1 and the third axis AX3 is taken as a second distance r2. A distance between the second axis AX2 and the end 21d of the first finger portion 21 is a third distance r3. In the present embodiment, the range of the ratio (r1 / r3) of the first distance r1 to the third distance r3 is, for example, 0.11 or more and 0.17 or less. The first distance r1, the second distance r2, and the third distance r3 satisfy the following equation (1).

  r2 / r3 = 0.657 × r1 / r3 + 0.143 (1)

  By setting the first distance r1, the second distance r2 and the third distance r3 in this range, it is possible to keep the distance L1 constant and to make the gripping force constant. More preferably, the first distance r1, the second distance r2, and the third distance r3 have a relationship of r1: r2: r3 = 0.14: 0.235: 1. Further, in the case where the first finger portion 21 is to be opened larger, that is, in the case where the distance L2 is increased, the first distance r1, the second distance r2, and the third distance r3 are maintained. It is preferable to determine the configuration of the first finger portion 21, the first link portion 31, the second link portion 32, the support portion 33, and the like. Note that the ranges of the first distance r1, the second distance r2, and the third distance r3 can be appropriately changed in accordance with the allowable amount of shift of the distance L1 associated with the opening / closing operation or the allowable amount of shift of the gripping force.

Second Embodiment
FIG. 8 is a front view of the gripping device according to the second embodiment. FIG. 9 is a control block diagram of the gripping device according to the second embodiment. As shown in FIG. 8, the gripping device 1A of the present embodiment has a base 10A, a first link mechanism 4, a second link mechanism 5, a first finger 21A, and a second finger 22A. Further, as shown in FIG. 9, the gripping device 1A includes a first drive device 1021 and a second drive device 1022.

  As shown in FIG. 8, the base 10A has a rectangular shape having a side 10Aa and a side 10Ab opposed to each other in a front view. In the present embodiment, the width in the first direction Dx of the base 10A is larger than the width in the second direction Dy. The first link mechanism 4 includes a first link portion 41, a second link portion 42, a first support portion 43 and a pin 44. The first support portion 43 is disposed inside the long hole 45 of the second link portion 42. The configurations and operations of the first link mechanism 4 and the first finger portion 21A are the same as those of the link mechanism 3 of the first embodiment, and the detailed description will be omitted.

  The second link mechanism 5 includes a third link 51, a fourth link 52, a second support 53, and a pin 54. The third link 51 is provided swingably on the base 10A about a fourth axis AX4 different from the first axis AX1a of the first link 41. The fourth axis AX4 is a rotation axis of the second shaft 1022a, and is provided along the third direction Dz.

  One end side of the fourth link portion 52 is connected to the third link portion 51 via the pin 54. The fourth link portion 52 is provided swingably with respect to the third link portion 51 about the fifth axis AX5. The fifth axis AX5 is a central axis of the pin 54, and is provided along the third direction Dz. The other end of the fourth link 52 is connected to the second finger 22A. The fourth link portion 52 is provided with a long hole 55 along the longitudinal direction of the fourth link portion 52. The second support portion 53 is disposed inside the long hole 55 of the fourth link portion 52.

  The second finger portion 22A has a fixed portion 22Aa and a grip portion 22Ab. The fixing portion 22Aa is connected to the other end side of the fourth link portion 52. The gripping portion 22Ab has a curved shape. The second finger portion 22A has the same shape as the fixed portion 21Aa and the grip portion 21Ab of the first finger portion 21A. The grip portion 22Ab is convex in a direction away from the grip portion 21Ab of the first finger portion 21A.

  With such a configuration, the fourth link 52 and the second finger 22A are provided swingably on the base 10A with the sixth axis AX6 as a fulcrum. The fourth link 52 and the second finger 22A are provided so as to be movable in the longitudinal direction. Here, the sixth axis AX6 is a central axis of the second support portion 53, and is provided along the third direction Dz.

  In the present embodiment, the second link mechanism 5 and the second finger 22A have a line symmetry with the first link mechanism 4 and the first finger 21A, with a line parallel to the second direction Dy as an axis of symmetry. That is, the position in the second direction Dy of the fourth axis AX4 is equal to the position in the second direction Dy of the first axis AX1a. The position in the second direction Dy of the fifth axis AX5 is equal to the position in the second direction Dy of the second axis AX2a. The position in the second direction Dy of the sixth axis AX6 is equal to the position in the second direction Dy of the third axis AX3a. The length Lh2 of the long hole 55 of the fourth link portion 52 is equal to the length Lh1 of the long hole 45 of the second link portion 42. The second link mechanism 5 and the second finger portion 22A may have an asymmetrical configuration with the first link mechanism 4 and the first finger portion 21A.

  The first drive device 1021 shown in FIG. 9 is a device for driving the first link mechanism 4 and the first finger portion 21A, and is, for example, a rotary actuator. The first drive device 1021 is fixed to the base 10A. The first drive device 1021 includes a first shaft 1021a that rotates.

  The second drive device 1022 is a device for driving the second link mechanism 5 and the second finger portion 22A, and is, for example, a rotary actuator. The second drive device 1022 is fixed to the base 10A. The second drive device 1022 includes a second shaft 1022a that performs rotational movement.

  In the gripping device 1A of the present embodiment, the first finger portion 21A is provided swingably with respect to the base 10A by the operation of the first link mechanism 4, and the second finger portion 22A by the operation of the second link mechanism 5. Is provided swingably with respect to the base 10A. The second drive device 1022 rotates the second shaft 1022 a in the direction opposite to the rotation direction of the first shaft 1021 a of the first drive device 1021. As a result, the fourth link 52 and the second finger 22A swing in the direction opposite to that of the second link 42 and the first finger 21A.

  For this reason, as compared with the gripping device 1 of the first embodiment, it is possible to make the movable range of the first finger 21A and the second finger 22A larger. That is, the distance L2 in the first direction Dx between the end 21Ad of the first finger 21A and the end 22Ad of the second finger 22A is larger than the width of the base 10A in the first direction Dx. Therefore, the gripping device 1A can miniaturize the gripping device 1A by suppressing an increase in the width of the base 10A, and can grip various gripping objects having different outer diameter shapes.

  The gripping device 1A performs the opening and closing operation of the first finger portion 21A by the operation of the first link mechanism 4, and from the outer periphery of the base 10A of the second link portion 42 according to the opening angle θ1 of the second link portion 42. You can also change the length of the outer part. In addition, the gripping device 1A performs the opening and closing operation of the second finger 22A by the operation of the second link mechanism 5, and the base 10A of the fourth link 52 according to the opening angle θ2 of the fourth link 52. The length of the part outside the outer periphery can be changed. Thus, the distance between the base 10A and the end 21Ad of the first finger 21A and the distance between the base 10A and the end 22Ad of the second finger 22A are kept constant at a predetermined size (distance L1). In the state, the opening and closing operation of the first finger unit 21A and the second finger unit 22A can be performed.

  Here, the opening / closing angle θ2 is an angle formed by the virtual line B1 and the virtual line B2. The virtual line B1 is a straight line passing the fifth axis AX5 of the pin 54 and the sixth axis AX6 of the second support portion 53 in a front view. The imaginary line B2 is a straight line passing through the fourth axis AX4 of the second shaft 1022a and the sixth axis AX6 of the second support portion 53 in a front view. In the present embodiment, the opening / closing angle θ2 of the fourth link 52 and the second finger 22A is equal to the opening / closing angle θ1 of the second link 42 and the first finger 21A. However, the first drive device 1021 and the second drive device 1022 can independently drive the first link mechanism 4 and the second link mechanism 5 independently. Therefore, the open / close angle θ2 may be different from the open / close angle θ1.

  As shown in FIG. 9, the first drive device 1021 and the second drive device 1022 operate according to control signals from the control device 101. The opening and closing operation of the first link mechanism 4 and the first finger portion 21A is performed by the driving force input from the first driving device 1021. Specifically, the driving force generated by the first drive device 1021 is transmitted to the first shaft 1021a, the first link portion 41, the second link portion 42, and the first finger portion 21A. By the movement of the first link portion 41 and the second link portion 42, the opening and closing operation of the first finger portion 21A is performed. Further, the opening / closing operation of the second link mechanism 5 and the second finger portion 22A is performed by the driving force input from the second driving device 1022. Specifically, the driving force generated by the second drive device 1022 is transmitted to the second shaft 1022a, the third link 51, the fourth link 52, and the second finger 22A. By the movement of the third link unit 51 and the fourth link unit 52, the opening and closing operation of the second finger unit 22A is performed.

  The first sensor unit 1031 and the second sensor unit 1032 include, for example, a displacement sensor, an angle sensor, a speed sensor, a pressure sensor, and the like. The first sensor unit 1031 detects the operation state of the first finger unit 21A, and outputs various types of information to the control device 101. The second sensor unit 1032 detects the operation state of the second finger unit 22A, and outputs various types of information to the control device 101. The control device 101 drives the first drive device 1021 in accordance with the operation state of the first finger portion 21A. The control device 101 drives the second drive device 1022 in accordance with the operation state of the second finger portion 22A.

  For example, the control device 101 may drive the first drive device 1021 and the second drive device 1022 based on the displacement, the open / close angle, the speed, and the like of the first finger portion 21A and the second finger portion 22A. For example, the control device 101 may drive the first drive device 1021 and the second drive device 1022 based on the gripping force. In addition, the control device 101 performs the first drive device 1021 and the second drive device 1022 based on information in which the displacement, the opening / closing angle, the speed, the gripping force, and the like of each of the first finger portion 21A and the second finger portion 22A are combined. May be driven.

  As described above, in addition to the first link mechanism 4 and the first drive device 1021, the gripping device 1A of the present embodiment includes the second link mechanism 5 and the second drive device 1022. The second link mechanism 5 includes a third link 51, a fourth link 52, and a second support 53. The third link portion 51 is provided swingably on the base 10A around a fourth axis AX4 (second rotation axis) different from the first axis AX1a (first rotation axis) of the first link portion 41. One end of the fourth link 52 is swingably connected to the third link 51, and the other end is connected to the second finger 22A. The second support portion 53 supports the fourth link portion 52. The second drive device 1022 drives the third link unit 51. The fourth link portion 52 is provided with a long hole 55 along the longitudinal direction of the fourth link portion 52. The second support portion 53 is disposed inside the elongated hole 55, and the fourth link portion 52 and the second finger portion 22A are provided swingably on the base 10A.

  Thus, the gripping device 1A can increase the open / close amount of the first finger 21A and the second finger 22A. Specifically, the distance L2 in the first direction Dx between the end 21Ad of the first finger 21A and the end 22Ad of the second finger 22A is greater than the width of the base 10A in the first direction Dx. growing. Further, in the same manner as the first finger 21A, the holding apparatus 1A keeps the distance L1 between the base 10A and the end 22Ad of the second finger 22A constant at a predetermined size as in the second finger 22A. In the state, the opening and closing operation can be performed.

Third Embodiment
FIG. 10 is a front view of the gripping device according to the third embodiment. In the following description, the same components as those described in the above-described embodiment will be assigned the same reference numerals and overlapping descriptions will be omitted. The gripping device 1B of the present embodiment includes a first link mechanism 4A, a second link mechanism 5A, a connecting portion 61, a first finger portion 21B, and a second finger portion 22B.

  The first link mechanism 4A includes a first link portion 41A, a second link portion 42A, a first support portion 43A, and a pin 44A. The second link mechanism 5A includes a third link 51A, a fourth link 52A, a second support 53A, and a pin 54A. The first link mechanism 4A and the second link mechanism 5A have the same configuration as the first link mechanism 4 and the second link mechanism 5 shown in the second embodiment.

  In the present embodiment, the third link portion 51A of the second link mechanism 5A is oriented in a direction parallel to the first link portion 41A of the first link mechanism 4A. The support portion 43A of the first link mechanism 4A is disposed inside the elongated hole 45A of the second link portion 42A, and swingably supports the second link portion 42A. The support portion 53A of the second link mechanism 5A is disposed inside the long hole 55A of the fourth link portion 52A, and swingably supports the fourth link portion 52A. The fourth link 52A is oriented in a direction parallel to the second link 42A. The open / close angle θ1 of the second link portion 42A is equal to the open / close angle θ2 of the fourth link portion 52A.

  The other end side of the second link portion 42A and the other end side of the fourth link portion 52A are connected via the connecting portion 61. The second link portion 42A is connected to the connecting portion 61 via the pin 62. Further, the fourth link 52A is connected to the connecting portion 61 via the pin 63. The second link portion 42A and the fourth link portion 52A are provided swingably around the seventh axis AX7 and the eighth axis AX8, respectively. The seventh axis AX7 and the eighth axis AX8 are central axes of the pins 62 and 63, respectively, and are provided along the third direction Dz. In the present embodiment, the distance between the second axis AX2a and the fifth axis AX5, the distance between the third axis AX3a and the sixth axis AX6, and the distance between the seventh axis AX7 and the eighth axis AX8 are equal. Thus, the first link mechanism 4A, the second link mechanism 5A, and the connecting portion 61 are configured as parallel link mechanisms.

  In the present embodiment, the first finger portion 21B is connected to the connecting portion 61. The first finger portion 21B has a flat plate shape having a plane perpendicular to the first direction Dx and parallel to the second direction Dy. The second finger 22B is provided to face the first finger 21B. The second finger portion 22B has a fixed portion 22Ba, an inclined portion 22Bb, and a grip portion 22Bc, and the second finger portion 22B is attached to the base 10A in the same manner as the second finger portion 22 (see FIGS. 2 and 3) in the first embodiment. The position is fixed.

  The first link mechanism 4A, the second link mechanism 5A, and the connecting portion 61 operate as a parallel link mechanism. For this reason, the first link portion 41A and the third link portion 51A swing while maintaining a parallel state. The second link portion 42A and the fourth link portion 52A also swing while maintaining a parallel state. By the opening and closing operation of the second link portion 42A and the fourth link portion 52A, the connecting portion 61 moves in a state where the angle between the base 10A and the connecting portion 61 is kept constant at a predetermined size. In FIG. 10, the connecting portion 61 moves in the first direction Dx in parallel with the side 10Ab of the base 10A. Therefore, the gripping device 1B can move the first finger portion 21B in parallel to the second direction Dy, and can easily grip the gripping target.

  Also in the present embodiment, the gripping device 1B can increase the movable range of the first finger portion 21B. That is, the distance L2 in the first direction Dx between the end 21Bd of the first finger 21B and the end 22Bd of the second finger 22B is larger than the width of the base 10A in the first direction Dx.

  In addition, the gripping device 1B performs the opening and closing operation of the second link portion 42A and the fourth link portion 52A by the operation of the first link mechanism 4A and the second link mechanism 5A, and at the same time, depending on the opening angles θ1 and θ2, The length of the part of the 2 link part 42A and the 4th link part 52A outside the perimeter of base 10A can be changed. Thereby, the opening and closing operation of the first finger 21B can be performed in a state where the distance L1 between the base 10A and the end 21Bd of the first finger 21B is kept constant at a predetermined size.

  In addition, also in the 2nd finger part 22B, the parallel link mechanism which has the structure similar to 1st link mechanism 4A, 2nd link mechanism 5A, and the connection part 61 may be provided.

  As described above, in addition to the first link mechanism 4A and the first drive device 1021, the gripping device 1B of the present embodiment includes the second link mechanism 5A and the connecting portion 61. The second link mechanism 5A includes a third link 51A, a fourth link 52A, and a second support 53A. The third link 51A is provided swingably on the base 10A about a fourth axis AX4 (second rotation axis) different from the first axis AX1a (first rotation axis) of the first link 41A. One end side of the fourth link 52A is swingably connected to the third link 51A. The second support portion 53A supports the fourth link portion 52A. The connecting portion 61 connects the other end side of the second link portion 42A and the other end side of the fourth link portion 52A. The first finger 21 </ b> B is connected to the second link 42 </ b> A via the connection 61.

  Thus, the first link mechanism 4A, the second link mechanism 5A, and the connecting portion 61 operate as a parallel link mechanism. The connecting portion 61 moves in a state where the angle between the base 10A and the connecting portion 61 is kept constant at a predetermined size. Therefore, the gripping device 1B can move the first finger portion 21B in parallel, and can easily grip the gripping target.

Fourth Embodiment
FIG. 11 is a front view of the gripping device according to the fourth embodiment. In 1 C of holding devices of this embodiment, the 1st link mechanism 4 and the 2nd link mechanism 5 are the same as that of a 2nd embodiment, and detailed explanation is omitted. The gripping device 1C has a first gear 46 and a second gear 56.

  The first gear 46 is connected to the first link portion 41, and can rotate with the first link portion 41 about the first axis AX1a. The second gear 56 is connected to the third link 51 and meshes with the first gear 46. The second gear 56 can rotate with the third link unit 51 about the fourth axis AX4.

  The driving force of the first drive device 1021 (see FIG. 9) is transmitted to the first finger portion 21A via the first link portion 41 and the second link portion 42. Further, the driving force of the first drive device 1021 is transmitted to the second link mechanism 5 via the first gear 46 and the second gear 56. For example, when the first gear 46 is rotated in the direction of the arrow RCW by the driving force of the first drive device 1021, the second gear 56 is rotated in the direction of the arrow CW. Thereby, the driving force of the first drive device 1021 is transmitted to the second link mechanism 5, and the opening and closing operation of the fourth link unit 52 is performed. The gripping device 1C operates the first link mechanism 4 and the second link mechanism 5 with one first drive device 1021 to perform opening and closing operations of the two first finger portions 21A and the second finger portions 22A. it can. Therefore, since it is not necessary to provide the second drive device 1022 (see FIG. 9), the gripping device 1C is miniaturized.

  Although the first gear 46 is the drive gear and the second gear 56 is the driven gear, the present invention is not limited to this. Instead of the first drive device 1021, a second drive device 1022 may be provided, and the second gear 56 may operate as a drive gear, and the first gear 46 may operate as a driven gear.

  FIG. 12 is a view showing another example of a schematic configuration of a picking device having a gripping device. As shown in FIG. 12, the picking device 200 </ b> A of the present embodiment includes a plurality of articulated arms 202 </ b> A and 202 </ b> B arranged side by side on a belt conveyor 216 and a gripping device 1. The gripping device 1 is attached to the tip of each of the articulated arms 202A and 202B.

  The articulated arm 202A holds the food 215A disposed in the tray 213A, and places the food 215A at a predetermined position of the food container 217 flowing on the belt conveyor 216. The articulated arm 202B holds the food 215B disposed in the tray 213B, and places the food 215B at a predetermined position of the food container 217 flowing on the belt conveyor 216.

  The eyelid sensors 205c and 205d are, for example, distance image cameras. The control device 204 (see FIG. 1) recognizes the position and the condition of the food 215A, 215B arranged in the tray 213A, 213B based on the image data of the eyelid sensor 205c, 205d. Thus, the control device 204 can control the articulated arms 202A and 202B to move the gripping device 1 to a position at which the food materials 215A and 215B can be gripped.

  The gripping device 1 grips the foodstuffs 215A and 215B by the opening and closing operation of the first finger 21 (see FIG. 2 and the like). In this case, the control device 204 can appropriately set the gripping force of the first finger unit 21 based on the information from the force sensor 207 (see FIG. 1). Thereby, grasping device 1 can control modification of foodstuffs 215A and 215B.

  The heel sensor 205a is provided on the arm portion 221 of the articulated arms 202A and 202B. The chewing sensor 205a is, for example, a distance image camera, and recognizes the position and the situation of the food container 217. The control device 204 (see FIG. 1) controls the articulated arms 202A and 202B and the gripping device 1 based on the image data of the eyelid sensor 205a to place the foodstuffs 215A and 215B at the predetermined positions of the food container 217. Do. Further, the weir sensor 205 b is fixed to the upper side of the belt conveyor 216. The control device 204 (see FIG. 1) controls the articulated arms 202A and 202B and the gripping device 1 based on the image data of the eyelid sensor 205b to place the foodstuffs 215A and 215B at the predetermined positions of the food container 217. can do. The gripping device 1 can perform the opening and closing operation in a state in which the distance L1 (see FIG. 3) is kept constant, so that the first finger 21 can be prevented from contacting the food container 217.

  In addition, the holding | grip apparatus 1 can also be employ | adopted, for example to a scalar robot or a parallel link robot. The picking device 200A is not limited to the case of arranging the foodstuffs 215A and 215B unmanned, and may cooperate with the worker.

  The configurations of the gripping devices 1, 1A, 1B, and 1C described above may be changed as appropriate. For example, the shapes, the open / close angles, the lengths, and the like of the first finger portions 21, 21A, 21B and the second finger portions 22, 22A, 22B are merely examples, and can be changed as appropriate. In addition, the shape, length, and the like of the long holes 35 and 45 can be appropriately changed. By so doing, the open / close angles θ1, θ2 etc. of the first finger 21 and the second finger 22 can be changed.

  Further, the shapes of the fingertips of the first finger portion 21 and the second finger portion 22 are not limited to the shapes described above. For example, the fingertips of the first finger 21 and the second finger 22 may be L-shaped. For example, the fingertip may have a plurality of grooves or a concavo-convex shape, or may have a shape combining a cylinder and a hemisphere. Further, the material of the fingertip is not particularly limited. The material of the fingertip is, for example, metal, synthetic resin, synthetic rubber or the like. As a synthetic resin, an ABS resin, polyacetal, etc. are mentioned. Examples of synthetic rubbers include nitrile rubber (NBR), silicone rubber and the like. Further, the base material of the fingertip may be formed of metal, and the portion of the fingertip in contact with the object to be grasped may be formed of synthetic resin or synthetic rubber.

DESCRIPTION OF SYMBOLS 1, 1A, 1B, 1C Gripping device 3 Link mechanism 4, 4A 1st link mechanism 5, 5A 2nd link mechanism 10, 10A Base 10a, 10b, 10Aa, 10Ab Side 10c 1st surface 10d 2nd surface 11 cover 12 post 21, 21A first finger 22, 22A second finger 31, 41, 41A first link 32, 42, 42A second link 33 support 34, 44, 54 pin 35, 45, 55 long hole 43, 43A 1st support 51, 51A 3rd link 52, 52A 4th link 53, 53A 2nd support 102 Drive 1021 1st drive 1022 2nd drive 200, 200A Picking device 202 articulated arm 205 Sensor 207 Force sensor 215 Work AX1, AX1a 1st axis AX2, AX2a 2nd axis AX3, AX3 Third axis AX4 4th axis AX5 fifth axis AX6 sixth axis

Claims (5)

The base,
A first link portion swingably provided about a first rotation axis intersecting the surface of the base, and one end side is swingably connected to the first link portion, and the other end side is a first finger A first link mechanism including a second link unit connected to the second unit, and a first support unit provided on the base and supporting the second link unit;
And a first drive unit for driving the first link unit.
The second link portion is provided with a first elongated hole along the longitudinal direction of the second link portion,
The first support portion is disposed inside the first elongated hole, and the second link portion and the first finger portion are provided swingably at the base portion.
Gripping device. A third link portion swingably provided at the base portion around a second rotation axis different from the first rotation axis, and one end side is swingably connected to the third link portion, and the other end side is A second link mechanism including a fourth link connected to a second finger, and a second support supporting the fourth link;
A second drive device for driving the third link unit;
Have
The fourth link portion is provided with a second elongated hole along the longitudinal direction of the fourth link portion,
The second support portion is disposed inside the second elongated hole, and the fourth link portion and the second finger portion are provided swingably at the base portion.
A gripping device according to claim 1. A third link portion swingably provided at the base portion around a second rotation axis different from the first rotation axis, and a fourth link swingably connected to the third link portion at one end side A second link mechanism including: a second support portion supporting the fourth link portion;
A connecting portion connecting the other end side of the second link portion and the other end side of the fourth link portion;
The first finger is connected to the second link via the connection.
A gripping device according to claim 1. A third link portion swingably provided at the base portion around a second rotation axis different from the first rotation axis, and one end side is swingably connected to the third link portion, and the other end side is A second link mechanism including a fourth link connected to the second finger;
A first gear connected to the first link portion and rotatable around the first rotation axis together with the first link portion;
The holding device according to claim 1, further comprising: a second gear coupled to the third link portion and meshed with the first gear. And a second finger facing the first finger,
The second finger is fixed in position relative to the base.
A gripping device according to claim 1.

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