JP2019195878A - Gripping device - Google Patents

Abstract

To provide a gripping device which has excellent mountability of a gripping hand for a holder.SOLUTION: A gripping device 20 includes: a gripping hand 30 which has an elastic wall 31 with elasticity, a plurality of arms 32 extending from the elastic wall 31, a cylindrical peripheral wall 33 extending in a direction different from the plurality of arms 32 from the surrounding of the elastic wall 31, and a first engaging section 34 formed at a tip of the peripheral wall 33, and in which the plurality of arms 32 perform opening/closing operations according to a reciprocating operation of the elastic wall 31; and a holder 40 which has a second engaging section 42 engaged with the first engaging section 34 and is mounted with a gripping hand 30 therein. The first engaging section 34 is provided with a first projection section 341 projecting along an axial direction DX and a second projection section 342 projecting in a direction crossing the axial direction DX from the first projection section 341. The second engaging section 42 is provided with a first recess section 424 to which the first projection section 341 is fitted and a second recess section 425 to which the second projection section 342 is fitted. The first engaging section 34 has a lower elastic modulus than the second engaging section 42.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a gripping device.

  Patent Document 1 describes a gripping device that includes a gripping body (grip hand) that grips a workpiece and a case (holder) that supports the gripping body. In the gripping device, the gripping body has a bag shape having an opening, a substantially disk-shaped palm, a plurality of fingers that tilt toward the palm as the palm deforms in the thickness direction, and a periphery of the opening And a flange portion. The case fixes the gripping body so as to close the opening of the gripping body.

  The gripping device deforms the palm portion of the gripping main body in the thickness direction by decompressing the space formed between the gripping main body and the case or releasing the space. That is, the gripping device adjusts the pressure in the space between the gripping main body and the case, and closes the plurality of finger portions so that the workpiece can be gripped, or opens the plurality of finger portions so as to release the workpiece.

Japanese Patent No. 6291553

  In the gripping device as described above, the case includes a disk-shaped member and an annular member that sandwich the flange portion of the gripping body in order to fix the gripping body. In other words, the gripping device as described above, when mounting the gripping body on the case, sandwiches the flange portion of the gripping body between the disk-shaped member and the annular member of the case, and then the disk-shaped member and the annular shape. For example, the members need to be connected by a fastening member. An object of the present invention is to provide a gripping device in which the gripping hand is easily mounted on a holder.

Hereinafter, means for solving the above-described problems and the effects thereof will be described.
The gripping device that solves the above problems includes an elastic wall having elasticity, a plurality of arms extending from the elastic wall, a cylindrical peripheral wall extending from the periphery of the elastic wall in a direction different from the plurality of arms, and the peripheral wall A gripping hand that opens and closes the plurality of arms in response to a reciprocating operation in the thickness direction of the elastic wall, and a front end of the peripheral wall. A second engaging portion that engages with the first engaging portion, and a holder to which the gripping hand is attached, and when the thickness direction of the elastic wall is an axial direction, One of the first engaging portion and the second engaging portion has a first convex portion projecting along the axial direction, and a direction intersecting the axial direction from the first convex portion. A second projecting portion that protrudes, and the other of the first engaging portion and the second engaging portion. The joint portion is provided with a first concave portion into which the first convex portion is fitted, and a second concave portion into which the second convex portion is fitted, and the first engaging portion is provided with the second engaging portion. The elastic modulus is lower than that of the part.

  According to the above configuration, the gripping device grips the gripping hand and the holder by pressing one of the gripping hand and the holder against the other after aligning the gripping hand and the holder so that the first engagement portion and the second engagement portion face each other. The hand can be attached to the holder. Specifically, the gripping device can fit the first convex portion into the first concave portion and fit the second convex portion into the second concave portion by elastic deformation of the first engaging portion of the gripping hand. Thus, the gripping device can attach the gripping hand to the holder without using a tool or the like. Therefore, the gripping device can improve the mountability of the gripping hand to the holder.

In the gripping device, it is preferable that the second convex portion and the second concave portion are formed at intervals in the circumferential direction of the peripheral wall.
In the case where the second convex portion and the second concave portion are formed in the circumferential direction, the first engaging portion is less likely to be elastically deformed when the gripping hand is attached to the holder. On the other hand, in the gripping device having the above configuration, the second engaging portion and the second recessed portion are formed at intervals in the circumferential direction. Easy to deform. Therefore, the gripping device can reduce the force of pressing one of the gripping hand and the holder against the other in order to mount the gripping hand on the holder.

  In the gripping device, when the direction orthogonal to the axial direction is the width direction, the length in the width direction of the second convex portion gradually decreases as it extends in the extending direction of the first convex portion. It is preferable.

  When the second convex portion has a certain length as it extends in the extending direction of the first convex portion, when the first convex portion and the second convex portion enter the first concave portion, the first convex portion The part and the second convex part or the first concave part need to be greatly elastically deformed. For this reason, in the above case, in order to mount the gripping hand on the holder, the force for pressing one of the gripping hand and the holder against the other tends to increase. On the other hand, in the gripping device having the above configuration, when the first convex portion and the second convex portion enter the first concave portion, the first convex portion and the second convex portion or the first concave portion are not elastically deformed greatly. Also gets better. Therefore, the gripping device can reduce the force of pressing one of the gripping hand and the holder against the other in order to mount the gripping hand on the holder.

  In the gripping device, the first engaging portion is provided with the first convex portion and the second convex portion, and the second engaging portion is provided with the first concave portion and the second concave portion. When the width direction is a direction orthogonal to the axial direction, the second engagement portion includes an inner peripheral wall defining an inner end of the first recess in the width direction, and the first recess. An outer peripheral wall defining an outer end in the width direction, and the peripheral wall contacts the inner peripheral surface that contacts the inner peripheral wall and the outer peripheral wall when the gripping hand is attached to the holder. And an outer contact surface.

  When the peripheral wall extending from the elastic wall is displaced when the elastic wall moves forward / backward in order to hold the workpiece with the holding device, the opening / closing operation of the plurality of arms may become unstable. In this regard, in the gripping device configured as described above, when the gripping hand is mounted on the holder, the inner contact surface and the outer contact surface of the peripheral wall of the gripping hand come into contact with the inner peripheral wall and the outer peripheral wall of the holder. For this reason, even if the elastic wall moves forward and backward, the peripheral wall is difficult to displace. Therefore, the gripping device can stabilize the opening and closing operations of the plurality of arms when gripping the workpiece. As a result, the gripping device can increase the gripping accuracy of the workpiece.

  The gripping device having the above configuration can improve the mounting property of the gripping hand to the holder.

The perspective view of a conveyance apparatus provided with the holding | grip apparatus which concerns on one Embodiment. The perspective view of the holding hand of a holding device. Sectional drawing of the holding hand of a holding apparatus. The perspective view of the holder of a holding device. Sectional drawing of the holder of a holding | gripping apparatus. (A)-(c) is sectional drawing of the holding | grip apparatus explaining a mode that a holding | grip hand is mounted | worn to a holder. (A), (b) is sectional drawing explaining a mode that a holding device hold | grips a workpiece | work. Sectional drawing of the holding | gripping apparatus which concerns on a 1st modification. Sectional drawing of the holding | gripping apparatus which concerns on a 2nd modification.

Hereinafter, a conveying apparatus provided with a gripping apparatus according to an embodiment will be described with reference to the drawings.
As illustrated in FIG. 1, the transport device 10 includes a gripping device 20 that grips a workpiece (hereinafter also referred to as “work W”) and a moving mechanism 60 that moves the gripping device 20.

  As shown in FIG. 1, the gripping device 20 includes a gripping hand 30 that grips the workpiece W, a holder 40 that holds the gripping hand 30, and a drive unit 50 that drives the gripping hand 30. In the following description, the direction in which the center lines of the gripping hand 30 and the holder 40 extend is also referred to as “axial direction DX”, and the direction orthogonal to the axial direction DX is also referred to as “radial direction DR”. In the present embodiment, the radial direction DR corresponds to an example of a “width direction”. The direction around the center line of the gripping hand 30 and the holder 40 is also referred to as “circumferential direction”.

  As shown in FIGS. 2 and 3, the gripping hand 30 includes an elastic wall 31 that reciprocates by the action of an external force, a plurality of arms 32 extending from the elastic wall 31, and a plurality of arms 32 from the periphery of the elastic wall 31. It has a cylindrical peripheral wall 33 extending in different directions, and a first engagement portion 34 that engages with the holder 40. Further, the gripping hand 30 is formed with a first space 35 surrounded by the elastic wall 31 and the peripheral wall 33.

  The elastic wall 31 has a substantially disk shape. In order to enable smooth reciprocation, the elastic wall 31 preferably has a portion that becomes a node having a thinner thickness than other portions between the central portion and the peripheral portion. The inner surface of the elastic wall 31 is a flat surface, and the outer surface of the elastic wall 31 is a convex curved surface.

  The elastic wall 31 reciprocates according to the pressure change in the first space 35. Specifically, the elastic wall 31 is configured such that when the pressure in the first space 35 becomes lower than the pressure in the external space (for example, atmospheric pressure) partitioned via the first space 35 and the elastic wall 31, It is displaced in the first movement direction M1 that decreases the volume. On the other hand, the elastic wall 31 is displaced in the second movement direction M2 that increases the volume of the first space 35 when the pressure of the first space 35 becomes equal to the pressure of the external space. In the present embodiment, the first movement direction M1 and the second movement direction M2 are the thickness direction of the elastic wall 31 and the axial direction DX.

  The plurality of arms 32 extend outward from the circumference of the elastic wall 31 in the radial direction DR. The plurality of arms 32 are arranged at equal intervals in the circumferential direction of the elastic wall 31 and extend radially from the elastic wall 31. The arm 32 has a curved shape and has a claw shape with a tapered tip.

  As shown in FIG. 3, the plurality of arms 32 are positioned at “open positions” where the tips are separated from each other when the elastic wall 31 is displaced in the second movement direction M <b> 2. On the other hand, when the elastic wall 31 is displaced in the first movement direction M1 from the state shown in FIG. 3, the plurality of arms 32 are displaced to the “closed position” where the tips approach each other. Thus, the plurality of arms 32 open and close according to the advance and retreat operation of the elastic wall 31.

  The peripheral wall 33 extends from the elastic wall 31 along the axial direction DX. In the peripheral wall 33, it is preferable that the thickness of the base end portion connected to the elastic wall 31 is thinner than other portions so that the plurality of arms 32 can smoothly open and close. An inner contact surface 331 and an outer contact surface 332 extending in a direction intersecting the axial direction DX are formed at the distal end portion of the peripheral wall 33. The inner contact surface 331 extends in the radial direction DR, and the outer contact surface 332 intersects with the radial direction DR. When the gripping hand 30 is viewed from the axial direction DX, the inner contact surface 331 and the outer contact surface 332 are annular.

  Further, the inner contact surface 331 is formed inward in the radial direction DR with respect to the first engagement portion 34, and the outer contact surface 332 is formed outward in the radial direction DR with respect to the first engagement portion 34. Is done. That is, when the gripping hand 30 is viewed from the axial direction DX, the first engaging portion 34 is formed between the inner contact surface 331 and the outer contact surface 332.

  The first engaging portion 34 includes a first convex portion 341 that protrudes in the axial direction DX from the distal end of the peripheral wall 33, and a plurality of second convex portions that protrude outward in the radial direction DR from the distal end portion of the first convex portion 341. 342. The 1st convex part 341 is formed over the circumferential direction, and has comprised the substantially cylindrical shape which makes the axial direction DX the height direction. The 2nd convex part 342 is formed in the peripheral direction at intervals, and has the shape of an approximately triangular prism which makes the peripheral direction the height direction. As shown in FIG. 3, the length of the second convex portion 342 in the radial direction DR gradually decreases as it goes in the protruding direction of the first convex portion 341 (the first movement direction M1). In other words, the second convex portion 342 is formed with the slope 342a so as to taper as it goes in the protruding direction of the first convex portion 341. The inclined surface 342a is inclined inward in the radial direction DR as it goes in the protruding direction of the first convex portion 341.

  The gripping hand 30 described above is integrally formed of an elastomer such as rubber and resin that can be greatly elastically deformed compared to a metal material. That is, in the present embodiment, the elastic wall 31, the arm 32, the peripheral wall 33, and the first engaging portion 34 have a certain elastic modulus. In this respect, the gripping hand 30 can be formed with a normal mold that does not use a slide core even if it has an undercut shape.

  As shown in FIGS. 4 and 5, the holder 40 includes a cap 41 that covers the opening of the gripping hand 30 and a second engagement portion 42 that engages with the gripping hand 30. The holder 40 is formed with a second space 43 surrounded by the cap 41 and the second engaging portion 42 and a flow path 44 extending from the second space 43.

  The cap 41 has a cylindrical side wall 411, a disk-shaped upper wall 412, and a flow path forming portion 413 extending from the upper wall 412. The cap 41 only needs to have a shape that can cover the opening of the gripping hand 30. A flow path 44 is formed in the flow path forming unit 413. Gas flows into or out of the second space 43 via the flow path 44.

  The second engaging portion 42 has an annular shape and is formed on the periphery of the cap 41. The second engaging portion 42 includes an inner peripheral wall 421 and an outer peripheral wall 422 extending in the axial direction DX, and a connecting wall 423 that connects the inner peripheral wall 421 and the outer peripheral wall 422. The second engagement portion 42 is provided with a first recess 424 that is recessed in the axial direction DX and a plurality of second recesses 425 that are recessed in the radial direction DR.

  The inner peripheral wall 421, the outer peripheral wall 422, and the connection wall 423 have a substantially cylindrical shape with the axial direction DX as the height direction. The inner peripheral wall 421 extends so as to be continuous with the side wall 411 of the cap 41. The connecting wall 423 connects the inner peripheral wall 421 and the outer peripheral wall 422 formed at intervals in the radial direction DR in the radial direction DR. The front end surface of the inner peripheral wall 421 extends in the radial direction DR, and the front end surface of the outer peripheral wall 422 extends in a direction crossing the radial direction DR. Therefore, a slope 422a is formed at the tip of the outer peripheral wall 422 so that the opening of the first recess 424 is widened. The inclined surface 422a is inclined inward in the radial direction DR toward the back of the first recess 424.

  The first concave portion 424 is a space corresponding to the first convex portion 341 of the gripping hand 30, and is an annular space formed between the inner peripheral wall 421, the outer peripheral wall 422, and the connecting wall 423. That is, the inner peripheral wall 421 defines the inner end of the first recess 424 in the radial direction DR, the outer peripheral wall 422 defines the outer end of the first recess 424 in the radial direction DR, and the connection wall 423 is the first recess. Define the bottom of 424.

  The second concave portion 425 is a space corresponding to the second convex portion 342 of the gripping hand 30, and is a space formed outward from the first concave portion 424 in the radial direction DR. In the present embodiment, the second recess 425 is also a through hole formed in the outer peripheral wall 422 and the connecting wall 423. A cutout 426 is provided in a portion of the connecting wall 423 corresponding to a portion of the outer peripheral wall 422 where the second recess 425 is formed. Thereby, when the holder 40 is viewed from the axial direction DX, a part of the second recess 425 of the outer peripheral wall 422 is exposed.

  The holder 40 described above is integrally formed by, for example, injection molding of a resin material. As shown in FIGS. 4 and 5, the holder 40 of the present embodiment does not have an undercut shape by providing the notch 426. For this reason, the holder 40 can be formed of a normal mold that does not use a slide core. In the present embodiment, the holder 40 has a higher elastic modulus than the gripping hand 30. Specifically, the second engagement portion 42 of the holder 40 has a higher elastic modulus than the first engagement portion 34 of the grasping hand 30.

  As shown in FIG. 1, the drive unit 50 has a connection state between the decompression unit 52 that decompresses the closed space 51 (see FIG. 6) including the first space 35 and the second space 43, and the flow path 44 and the decompression unit 52. And an electromagnetic valve 53 for switching. The decompression unit 52 is, for example, a suction pump. The decompression unit 52 sucks air from the closed space 51 and decompresses the closed space 51. The electromagnetic valve 53 switches between a decompressed state in which the decompression unit 52 and the flow path 44 are connected and an open state in which the flow path 44 is connected to the external space (atmosphere). That is, when the electromagnetic valve 53 is switched to the reduced pressure state, the pressure in the closed space 51 becomes less than the external atmospheric pressure, and the elastic wall 31 is displaced in the first movement direction M1. On the other hand, when the electromagnetic valve 53 is switched to the open state, the pressure in the closed space 51 becomes equal to the external pressure, and the elastic wall 31 is displaced in the second movement direction M2.

  The moving mechanism 60 is a mechanism for moving the gripping device 20 from a position serving as a workpiece W conveyance source to a position serving as a workpiece W conveyance destination. The moving mechanism 60 may be composed of, for example, a vertical articulated robot, a horizontal articulated robot, an orthogonal robot, or the like.

The operation of this embodiment will be described.
First, with reference to FIGS. 6A to 6C, a method of mounting the gripping hand 30 on the holder 40 will be described.

  When the gripping hand 30 is attached to the holder 40, as shown in FIG. 6A, the gripping hand 30 is gripped so that the first engaging portion 34 of the gripping hand 30 and the second engaging portion 42 of the holder 40 face each other. The hand 30 and the holder 40 are aligned. Thereafter, the gripping hand 30 is pressed against the holder 40.

  Then, as shown in FIG. 6B, the first convex portion 341 and the second convex portion 342 of the gripping hand 30 enter the first concave portion 424 of the holder 40 while being elastically deformed. At this time, since the inclined surfaces 342 a and 422 a (see FIGS. 3 and 5) are formed on the second convex portion 342 and the outer peripheral wall 422, the first convex portion 341 and the second convex portion 342 become the first concave portion 424. Easy to enter.

  Thereafter, as shown in FIG. 6C, when the first convex portion 341 reaches the back of the first concave portion 424, the second convex portion 342 is restored and enters the second concave portion 425. That is, even if the second convex portion 342 (first engaging portion 34) engages with the outer peripheral wall 422 (second engaging portion 42) and a load is applied to the gripping hand 30, the gripping hand 30 is moved from the holder 40. It cannot be removed carelessly. When the gripping hand 30 is mounted on the holder 40, a closed space 51 including the first space 35 of the gripping hand 30 and the second space 43 of the holder 40 is formed.

  When removing the gripping hand 30 from the holder 40, a load is applied to the gripping hand 30 in a direction in which the gripping hand 30 is separated from the holder 40. The magnitude of the load at this time is assumed to be larger than the weight of the work W gripped by the gripping hand 30.

Next, the operation of the transport device 10 will be described with reference to FIG.
As illustrated in FIG. 7A, the transport device 10 moves the gripping device 20 to a position that is a transport source of the work W, and then causes the gripping device 20 to approach the work W. Thereafter, the gripping device 20 depressurizes the closed space 51 of the gripping device 20 by switching the electromagnetic valve 53 to the decompressed state. Then, as shown in FIG.7 (b), the elastic wall 31 is displaced to the 1st movement direction M1, and the front-end | tips of the some arm 32 approach mutually. As a result, the plurality of arms 32 grip the workpiece W. Here, the plurality of arms 32 are elastically deformed according to the shape of the workpiece W, and grip the workpiece W while being in close contact with the workpiece W.

  After the gripping device 20 grips the work W, the transport device 10 moves the gripping device 20 to a position where the work W is transported. Thereafter, the gripping device 20 opens the closed space 51 of the gripping device 20 to the external space (atmosphere) by switching the electromagnetic valve 53 to the open state. Then, as shown in FIG. 7A, the elastic wall 31 is displaced in the second movement direction M2, and the tips of the plurality of arms 32 are separated from each other. As a result, the plurality of arms 32 let go of the workpiece W. Thus, the transfer device 10 transfers the workpiece W from the transfer source to the transfer destination.

The effect of this embodiment will be described.
(1) The gripping device 20 of the present embodiment holds the gripping hand 30 in the holder 40 with the gripping hand 30 and the holder 40 aligned so that the first engagement portion 34 and the second engagement portion 42 face each other. The gripping hand 30 can be attached to the holder 40 by pressing it onto the holder 40. Specifically, the gripping device 20 fits the first convex portion 341 into the first concave portion 424 and fits the second convex portion 342 into the second concave portion 425 by elastic deformation of the first engaging portion 34 of the gripping hand 30. Can be combined. Thus, the gripping device 20 can attach the gripping hand 30 to the holder 40 without using a tool or the like. As a result, the gripping device 20 can improve the mountability of the gripping hand 30 with respect to the holder 40.

  In the state where the gripping hand 30 is mounted on the holder 40, the first convex portion 341 is fitted into the first concave portion 424, and the second convex portion 342 is fitted into the second concave portion 425. For this reason, the gripping device 20 can prevent the gripping hand 30 from inadvertently dropping from the holder 40 even if the weight of the workpiece W acts on the gripping hand 30.

  (2) When the second convex portion 342 and the second concave portion 425 are formed in the circumferential direction, the first engaging portion 34 is less likely to be elastically deformed when the gripping hand 30 is attached to the holder 40. . In contrast, the gripping device 20 of the present embodiment is configured such that when the gripping hand 30 is attached to the holder 40, the second convex portion 342 and the second concave portion 425 are formed at intervals in the circumferential direction. The 1 engaging portion 34 is easily elastically deformed. Therefore, the gripping device 20 can reduce the force for pressing the gripping hand 30 against the holder 40 in order to mount the gripping hand 30 on the holder 40.

  (3) When the second convex portion 342 has a certain length as it extends in the extending direction of the first convex portion 341, the first convex portion 341 and the second convex portion 342 are formed in the first concave portion 424. When entering, the 1st convex part 341, the 2nd convex part 342, or the 1st recessed part 424 needs to elastically deform large. For this reason, in the above case, since the gripping hand 30 is mounted on the holder 40, the force for pressing the gripping hand 30 against the holder 40 tends to increase.

  On the other hand, in the gripping device 20 of the present embodiment, the length in the radial direction DR gradually decreases as the second convex portion 342 moves in the extending direction of the first convex portion 341. For this reason, when the 1st convex part 341 and the 2nd convex part 342 approach the 1st recessed part 424, the 1st convex part 341 or the 1st recessed part 424 does not need to be elastically deformed. Therefore, the gripping device 20 can reduce the force for pressing the gripping hand 30 against the holder 40 in order to mount the gripping hand 30 on the holder 40.

  (4) If the peripheral wall 33 extending from the elastic wall 31 is displaced when the elastic wall 31 moves back and forth in order for the gripping device 20 to grip the workpiece W, the opening and closing operations of the arms 32 may become unstable. is there. In this regard, in the gripping device 20 of the present embodiment, when the gripping hand 30 is mounted on the holder 40, the inner contact surface 331 and the outer contact surface 332 of the peripheral wall 33 of the gripping hand 30 are Contact wall 422. For this reason, even if the elastic wall 31 moves forward and backward, the peripheral wall 33 becomes difficult to displace. Therefore, the gripping device 20 can stabilize the opening and closing operations of the plurality of arms 32 when gripping the workpiece W. As a result, the gripping device 20 can increase the gripping accuracy of the workpiece W.

  (5) Since the holder 40 does not have an undercut shape, it can be injection-molded with a normal mold that does not use a slide core. Moreover, since the holder 40 consists of a single member, the number of components of the holding | gripping apparatus 20 can be reduced.

  (6) The gripping hand 30 is attached to the holder 40 by pressing the gripping hand 30 against the holder 40. For this reason, the transport apparatus 10 can also attach the gripping hand 30 to the holder 40 by pressing the holder 40 in the axial direction DX against the gripping hand 30 placed on the table by the moving mechanism 60.

The present embodiment can be implemented with the following modifications. The present embodiment and the following modifications can be implemented in combination with each other within a technically consistent range.
The gripping device 20 may be a gripping device 20A according to the first modification shown in FIG. In the gripping device 20A, the gripping hand 30A has a constant cross-sectional shape in the circumferential direction except for the arm 32. The second convex portion 342A of the gripping hand 30A protrudes outward in the radial direction DR from the first convex portion 341A. The holder 40A has a protruding piece 427 that protrudes inward in the radial direction DR from the distal end portion of the outer peripheral wall 422A. The protruding pieces 427 are formed at intervals in the circumferential direction. In the holder 40A, a through hole 428 is formed in a portion where the protruding piece 427 is projected in the axial direction DX with respect to the connecting wall 423A. Accordingly, the holder 40A is configured not to have an undercut shape. In addition, the holder 40A is provided with a first recess 424A that is recessed in the axial direction DX and a second recess 425B that is formed outward from the first recess 424A in the radial direction DR.

  In the gripping device 20A, the first convex portion 341A is fitted into the first concave portion 424A, the second convex portion 342A is fitted into the second concave portion 425A, and the gripping hand 30A is attached to the holder 40A. The gripping device 20A can obtain the same effect as the above embodiment.

  -The holding | grip apparatus 20 is good also as the holding | grip apparatus 20B which concerns on the 2nd modification shown in FIG. In the gripping device 20B, the gripping hand 30B has a constant cross-sectional shape in the circumferential direction except for the arm 32. In the gripping hand 30B, the second convex portion 342B protrudes inward in the radial direction DR from the first convex portion 341B. The holder 40B includes an inner holder 401 that fits into the gripping hand 30B from the inside, and an outer holder 402 that fits into the gripping hand 30 from the outside.

  The inner holder 401 has a cylindrical first inner peripheral wall 403 and a second inner peripheral wall 404, and the outer holder 402 has a cylindrical first outer peripheral wall 405 and a second outer peripheral wall 406. The outer diameter of the first inner peripheral wall 403 is larger than the outer diameter of the second inner peripheral wall 404, and the outer diameter of the first outer peripheral wall 405 is larger than the outer diameter of the second outer peripheral wall 406. Further, the outer diameter of the first inner peripheral wall 403 is smaller than the inner diameter of the first outer peripheral wall 405, and the outer diameter of the second inner peripheral wall 404 is substantially equal to the inner diameter of the second outer peripheral wall 406. The holder 40 </ b> B is configured by fitting the inner holder 401 inside the outer holder 402. For this reason, the first recess 424B and the second recess 425B become a space surrounded by the first inner peripheral wall 403, the second inner peripheral wall 404, the first outer peripheral wall 405, and the second outer peripheral wall 406.

  In the gripping device 20B, the first convex portion 341B is fitted into the first concave portion 424B, the second convex portion 342B is fitted into the second concave portion 425B, and the gripping hand 30B is attached to the holder 40B. The gripping device 20B can obtain the same effects as those of the above embodiment except for the effect (5). Furthermore, although the gripping device 20B includes two components of the holder 40B, the single shape of the inner holder 401 and the outer holder 402 can be simplified.

  The gripping device 20 has a configuration corresponding to the first concave portion 424 and the second concave portion 425 in the first engaging portion 34 of the gripping hand 30, and the first convex portion 341 and the second convex portion 42 in the second engaging portion 42 of the holder 40. A configuration corresponding to the two convex portions 342 may be provided. In this case, the first convex portion is fitted into the first concave portion and the second convex portion is fitted into the second concave portion by elastic deformation of the first engaging portion 34, that is, the first concave portion and the second concave portion. Is preferred.

  The inner contact surface 331 and the outer contact surface 332 of the gripping hand 30 may not be in contact with the inner peripheral wall 421 and the outer peripheral wall 422 of the holder 40 in a state where the gripping hand 30 is mounted on the holder 40. That is, the gripping hand 30 may not have the inner contact surface 331 and the outer contact surface 332.

In the gripping hand 30, the plurality of second convex portions 342 may be integrally formed. In this case, it is preferable that the 2nd recessed part 425 has a shape according to the 2nd convex part formed integrally.
In the gripping hand 30, the second convex part 342 may protrude outward and inward in the radial direction DR from the first convex part 341.

  In the gripping hand 30, the first protrusion 341 may protrude in a direction inclined with respect to the axial direction DX, and the second protrusion 342 may protrude in a direction inclined with respect to the radial direction DR. . The same applies to the first recess 424 and the second recess 425. That is, the direction along the axial direction DX in this specification includes a direction inclined at a predetermined angle with respect to the axial direction DX.

  In the plan view of the gripping hand 30, the elastic wall 31 may be non-circular. For example, in the plan view of the gripping hand 30, the elastic wall 31 may have a polygonal shape such as a rectangle or a regular octagon. In this case, the direction orthogonal to the axial direction DX is the “width direction”.

  -The gripping hand 30 should just be a material in which at least the elastic wall 31 and the 1st engaging part 34 can be elastically deformed. That is, the plurality of arms 32 and the peripheral wall 33 of the gripping hand 30 may be made of a hard material.

The number and shape of the arms 32 may be changed as appropriate according to the shape and weight of the workpiece W. For example, the arm 32 may extend linearly from the elastic wall 31 in the axial direction DX.
-You may change the material of the holding | grip hand 30 and the holder 40 suitably. For example, the first engagement portion 34 of the gripping hand 30 may be made of a resin having a lower elastic modulus than the second engagement portion 42 of the holder 40, or the holder 40 may be made of metal.

  DESCRIPTION OF SYMBOLS 10 ... Conveyance apparatus, 20 ... Gripping device, 30 ... Gripping hand, 31 ... Elastic wall, 32 ... Arm, 33 ... Peripheral wall, 331 ... Inner contact surface, 332 ... Outer contact surface, 34 ... First engaging part, 341 ... 1st convex part, 342 ... 2nd convex part, 342a ... Slope, 35 ... 1st space, 40 ... Holder, 41 ... Cap, 411 ... Side wall, 412 ... Upper wall, 413 ... Flow path forming part, 42 ... 2nd Engagement part, 421 ... inner peripheral wall, 422 ... outer peripheral wall, 422a ... slope, 423 ... connection wall, 424 ... first recess, 425 ... second recess, 426 ... notch, 43 ... second space, 44 ... flow path , 50 ... drive unit, 51 ... closed space, 52 ... pressure reducing part, 53 ... solenoid valve, 60 ... moving mechanism, 20A ... gripping device, 30A ... gripping hand, 341A ... first convex part, 342A ... second convex part, 40A ... Holder, 423A ... Connection wall, 424A ... First recess, 25A ... second recess, 427 ... projection piece, 428 ... through hole, 20B ... gripping device, 30B ... gripping hand, 341B ... first projection, 342B ... second projection, 40B ... holder, 401 ... inner holder, 402 ... outer holder, 403 ... first inner peripheral wall, 404 ... second inner peripheral wall, 405 ... first outer peripheral wall, 406 ... second outer peripheral wall, 422A ... outer peripheral wall, 424B ... first recess, 425B ... second recess, W ... Workpiece, DR ... Radial direction (an example of width direction), DX ... Axial direction, M1 ... First movement direction, M2 ... Second movement direction.

Claims (4)

An elastic wall having elasticity, a plurality of arms extending from the elastic wall, a cylindrical peripheral wall extending from the periphery of the elastic wall in a direction different from the plurality of arms, and a first end formed at the tip of the peripheral wall An engaging portion, and a gripping hand in which the plurality of arms open and close in response to a reciprocating motion in the thickness direction of the elastic wall;
A second engagement portion that engages with the first engagement portion so as to face the distal end portion of the peripheral wall, and a holder to which the gripping hand is attached,
When the thickness direction of the elastic wall is the axial direction,
One engaging portion of the first engaging portion and the second engaging portion includes a first convex portion projecting along the axial direction, and a direction intersecting the axial direction from the first convex portion. And a second convex part protruding to
The other engaging portion of the first engaging portion and the second engaging portion has a first concave portion into which the first convex portion is fitted, a second concave portion into which the second convex portion is fitted, Is provided,
The gripping device, wherein the first engagement portion has a lower elastic modulus than the second engagement portion. The gripping device according to claim 1, wherein the second convex portion and the second concave portion are formed at intervals in a circumferential direction of the peripheral wall. When the direction perpendicular to the axial direction is the width direction,
The gripping device according to claim 1, wherein the second convex portion gradually decreases in length in the width direction as it extends in an extending direction of the first convex portion. The first engaging portion is provided with the first convex portion and the second convex portion,
The second engagement portion is provided with the first recess and the second recess,
When the direction perpendicular to the axial direction is the width direction,
The second engagement portion has an inner peripheral wall that defines an inner end in the width direction of the first recess, and an outer peripheral wall that defines an outer end in the width direction of the first recess,
The peripheral wall includes an inner contact surface that contacts the inner peripheral wall and an outer contact surface that contacts the outer peripheral wall when the gripping hand is attached to the holder. The gripping device according to claim 1.