JP2020082207A - Holding device, robot arm, and opening expansion/contraction mechanism - Google Patents

Abstract

To eliminate a problem caused by a structure in which a peripheral edge part of an expansion/contraction opening is constantly closed.SOLUTION: A holding device 20 has an expansion/contraction opening 60 formed by moving multiple movable members and holds a held object in the expansion/contraction opening by the expansion/contraction opening contracting. A part of the movable members moves in the middle of or after expansion of the expansion/contraction opening so that one portion 61 of a peripheral edge part of the expansion/contraction opening opens to communicate with the outside.SELECTED DRAWING: Figure 3

Description

The present invention relates to a gripping device that grips an object to be gripped, a robot arm including the gripping device, and an opening expansion/contraction mechanism for expanding/contracting an expansion/contraction opening.

Among conventional gripping devices, as one used as an end effector of a robot arm, for example, one end side of two bar-shaped members arranged to face each other is driven to grip an object to be gripped between the two bar-shaped members. There is a known gripper.

Further, Patent Document 1 discloses a box wrench capable of expanding and contracting an expansion and contraction opening into which a bolt and a nut are fitted. In this box-type wrench, six slide bodies (movable members) that are annularly arranged so as to be adjacent to each other move by moving the slide surfaces between the adjacent slide bodies relative to each other. As a result, a regular hexagonal expansion/contraction opening formed by being surrounded by the six slide bodies when viewed from the side (the direction of the opening surface normal of the expansion/contraction opening) with respect to the moving directions of all the six slide bodies. By expanding and contracting, the size of the expansion and contraction opening can be adjusted to the size of bolts and nuts.

In the gripping device such as the gripper described above, for example, when a large number of linear objects (wires, etc.) or rod-shaped objects are objects to be grasped, the other end side of the two rod-shaped members is closed while the two rod-shaped members are closed. The object to be grasped is pushed out from the (free end side), and the object to be grasped cannot be properly grasped.

The present inventors have found that this problem can be solved by a gripping device using a mechanism for expanding and contracting the expansion and contraction opening in the box wrench disclosed in Patent Document 1. That is, by reducing the expansion/contraction opening and holding the object to be grasped with the expansion/contraction opening in a state where a large number of objects to be grasped such as linear objects are put in the expansion/contraction opening, there is an escape area for the object to be grasped that has the grasping force. Even if the object to be grasped is a large number of linear objects, it is possible to properly grasp it.

However, as a result of the research conducted by the present inventors, it has been found that in such a gripping device, various problems are caused by closing the peripheral portion of the expansion/contraction opening.
For example, in a gripping device such as the gripper described above, when gripping an object to be gripped, the free ends of the two rod-shaped members are spaced apart from each other and open, so that the object to be grasped is placed between the two rod-shaped members. Can be inserted. In order to insert the object to be grasped between the two rod-shaped members, the object to be grasped should be positioned between the free ends of the two rod-shaped members. Only in the direction connecting the free ends of the members (only in one direction). On the other hand, in the gripping device using the mechanism for expanding/contracting the expansion/contraction opening described above, since the peripheral portion of the expansion/contraction opening is closed, when the object to be grasped is grasped, the opening surface normal direction of the expansion/contraction opening Therefore, it is required to insert the object to be grasped into the expansion/contraction opening. Therefore, in order to insert the object to be grasped into the expansion/contraction opening, it is necessary to perform positioning in which accuracy is required in two directions (two-dimensional directions) along the opening surface of the expansion/contraction opening. Therefore, a problem arises in that the positioning at the time of gripping is more complicated and complicated than the gripping device such as the gripper described above.

Not limited to the gripping device, in a device that uses an aperture expansion/contraction mechanism in which the expansion/contraction opening formed by being surrounded by the plurality of movable members is expanded/contracted by the movement of the plurality of movable members, the peripheral portion of the expansion/contraction opening is There may be other adverse effects due to being closed.

In order to solve the above-mentioned problem, the present invention has an expansion/contraction opening formed by moving a plurality of movable members, and an object to be grasped is held in the expansion/contraction opening by reducing the expansion/contraction opening. In the gripping device, a part of the movable members of the plurality of movable members communicates with the outside by opening a part of a peripheral portion of the expansion/contraction opening during or after the expansion/contraction opening is expanded. It is characterized by moving like.
This gripping device can reduce the expansion/contraction opening formed by the plurality of movable members by moving the plurality of movable members, and can grasp an object to be grasped with the expansion/contraction opening whose peripheral portion is closed. On the other hand, during or after the expansion/contraction opening is expanded, by moving a part of the movable members of the plurality of movable members, a part of the peripheral portion of the expansion/contraction opening is opened and the expansion/contraction opening is opened to the outside. Can be communicated. Therefore, similar to the gripping device such as the gripper described above, when gripping an object to be gripped, the object to be gripped is expanded and contracted from the open portion (the communication passage portion communicating with the outside) of the peripheral portion of the expansion and contraction opening. Can be inserted inside. Therefore, when inserting the object to be grasped into the expansion/contraction opening, the object to be grasped may be positioned in the open portion (communication passage portion). Only the direction to connect (only one direction). As a result, it is possible to eliminate the disadvantage that the alignment at the time of gripping is complicated and complicated, which has occurred in the configuration in which the peripheral portion of the expansion/contraction opening is always closed. For example, in a system in which the gripping device is attached to the tip of a robot arm, in a configuration in which the peripheral portion of the expansion/contraction opening is always closed, a trajectory that allows the grasped object to reach the expansion/contraction opening from above or below the grasped object is provided. Although it was necessary to take the gripping object, the gripping device according to the present invention enables the gripping object to reach the inside of the expansion/contraction opening by the trajectory from the side of the gripping object.

Further, the present invention is characterized in that, in the gripping device, the plurality of movable members move such that a center position of the expansion/contraction opening is fixed during expansion/contraction of the expansion/contraction opening.
In the gripping device such as the gripper described above, the gripping position of the gripped object varies depending on which position between the two bar-shaped members (which position in the longitudinal direction of the bar-shaped member) grips the gripped object. Will come out. On the other hand, in the gripping device of the present invention, the object to be gripped in the contracting expansion/contraction opening can always be brought closer to the center position of the expansion/contraction opening and gripped. Therefore, the grip position of the object to be gripped by the grip device does not vary, and the accuracy of the grip position is high.

Further, in the gripping device according to the present invention, the part of the movable member moves along the peripheral edge of the expansion/contraction opening after the expansion/contraction opening is expanded, so that a part of the peripheral edge of the expansion/contraction opening is formed. Is characterized by opening and moving so as to communicate with the outside.
In the gripping device such as the gripper described above, for example, when a large number of linear objects (wires or the like) or rod-shaped objects are objects to be grasped, the free end sides of the two rod-shaped members while the two rod-shaped members are closed. The object to be grasped may be extruded from and the object to be grasped may not be properly grasped. In the gripping device of the present invention, while the expansion/contraction opening is expanded/contracted, the expansion/contraction opening is surrounded by the plurality of movable members, and the peripheral edge of the expansion/contraction opening is closed. Therefore, when the object to be grasped such as a large number of linear objects is gripped by the expansion/contraction opening by reducing the expansion/contraction opening, there is no escape area for the object to be grasped that has received the gripping force, and a large number of objects to be grasped such as linear objects. Even if there is, it is possible to properly grasp this.

Further, in the gripping device of the present invention, among the plurality of movable members, a part of the movable members supported by a first support portion and another movable member supported by a second support portion are First moving means for moving the expansion/contraction opening so as to expand/contract, and relative movement of the first support portion with respect to the second support portion so that a part of the peripheral edge portion of the expansion/contraction opening opens and communicates with the outside. And a second moving means.
In this gripping device, among the plurality of movable members, a part of the movable member that moves so as to communicate with the outside by opening a part of the peripheral portion of the expansion/contraction opening, and the other movable member are respectively the first support portions. And a second support, which are separate supports. Then, when expanding/contracting the expansion/contraction opening, the first moving means moves the part of the movable member and the other movable member to open a part of the peripheral portion of the expansion/contraction opening so that the expansion/contraction opening communicates with the outside. At this time, the first moving part relatively moves the second supporting part with respect to the second supporting part. Thus, the operation of expanding/contracting the expansion/contraction opening and the operation of opening a part of the peripheral portion of the expansion/contraction opening can be realized with a relatively simple configuration.

Further, the present invention is characterized in that, in the gripping device, the driving force of the first moving means and the driving force of the second moving means are transmitted from the same driving means.
According to this, compared with the structure in which the driving force of the first moving means and the driving force of the second moving means are transmitted from separate driving means, the number of parts is small and a simpler structure can be realized.

Further, the present invention, in the gripping device, has a moving member that is moved by a driving force from the driving means, and in a state in which relative movement by the second moving means is prohibited until the expansion/contraction opening is enlarged, After the first moving means moves the part of the movable member and the other movable member in association with the movement of the moving member and the expansion/contraction opening is enlarged, the part of the first moving means is moved. In a state in which the movement of the movable member and the other movable member is prohibited, the second moving means interlocks with the movement of the moving member to move the first supporting portion relative to the second supporting portion. Characterize.
According to this gripping device, by moving the moving member by the driving force from the single driving means, it is possible to realize the operation of expanding/contracting the expansion/contraction opening and the operation of opening a part of the peripheral portion of the expansion/contraction opening. ..

In the gripping device of the present invention, the plurality of movable members are flat plate-shaped members, and at least one of the second support portion and the first support portion is provided on one flat plate surface of the movable member to be supported. A fixed member facing each other and having a restricting portion for restricting the moving direction of the movable member, and a moving force transmitting member facing the other flat plate surface of the movable member and transmitting the moving force in the moving direction to the movable member. And is provided.
According to this, the above-described movement of the movable member can be realized with a relatively simple configuration.

Further, in the gripping device of the present invention, the second moving means displaces the first support portion at a position deviated from the second support portion in a direction orthogonal to a moving direction of the plurality of movable members. Characterized by relative movement.
According to this, when the first support portion is relatively moved to open a part of the peripheral edge portion of the expansion/contraction opening and communicate with the outside, the first support portion does not interfere with the second support portion, so that the first support portion A larger amount of relative movement can be secured. As a result, a part of the peripheral edge portion of the expansion/contraction opening can be opened further, and the alignment when inserting the object to be grasped into the expansion/contraction opening from the opened portion becomes easier.

Further, the present invention is characterized in that, in the gripping device, there is an open/close detection means for detecting whether or not a part of a peripheral portion of the expansion/contraction opening is opened.
In the gripping device according to the present invention, by moving the part of the movable member, a part of the peripheral edge portion of the expansion/contraction opening is opened to communicate the expansion/contraction opening with the outside, and the object to be grasped enters the expansion/contraction opening from the communication portion. You can let it in. In performing the control of moving the movable member in order to allow the grasped object to enter into the expansion/contraction opening, it is necessary to grasp whether or not a part of the peripheral portion of the expansion/contraction opening is open. This is important information for realizing the control to surely enter the expansion/contraction opening. Also, when executing the control for moving the movable member in order to move the object to be grasped held in the expansion/contraction opening to the outside of the expansion/contraction opening, similarly, the control to reliably eject the object to be grasped from the expansion/contraction opening is realized. This is important information.
According to the present invention, it is possible to detect whether or not a part of the peripheral edge portion of the expansion/contraction opening is opened by the opening/closing detection means, and thus it becomes easy to realize appropriate control.

Further, the present invention is based on load detection means for detecting a moving load when moving the plurality of movable members, a detection result of the opening/closing detection means, and a detection result of the load detection means in the gripping device. And an interruption control unit that executes control for interrupting the movement of the plurality of movable members.
When a part of the peripheral edge of the expansion/contraction opening is opened so that the expansion/contraction opening communicates with the outside, and the grasped object enters into the expansion/contraction opening from the communicating portion and grasps, the grasped object does not completely enter the expansion/contraction opening. If a part of the peripheral edge of the expansion/contraction opening is closed in this state, the object to be grasped will be caught in the part. In this case, the movable member of the gripping device, other components, or the object to be gripped may be damaged or damaged.
According to the gripping device of the present invention, for example, it is determined from the detection result of the opening/closing detection means that a part of the peripheral edge of the expansion/contraction opening is not closed, and the movement result of the plurality of movable members is detected from the detection result of the load detection means. When it is determined that the load exceeds the threshold value, it is possible to interrupt the movement of the plurality of movable members on the assumption that the object to be grasped is sandwiched between the portions. As a result, it is possible to prevent the object to be grasped from being sandwiched in the part and to prevent the movable member and other components of the grasping device or the object to be grasped from being damaged or damaged.

Further, the present invention is characterized in that, in the gripping device, at least one of the plurality of movable members includes contact detection means for detecting contact with the object to be grasped.
According to the gripping device of the present invention, when a plurality of movable members are moved to reduce the expansion/contraction opening, it is possible to determine whether or not the object to be grasped in the expansion/contraction opening is in contact with the movable member. It is also possible to determine whether or not the object to be grasped in the expansion/contraction opening is separated from the movable member when the plurality of movable members are moved to expand the expansion/contraction opening. As a result, control using these judgment results becomes possible. In particular, if the contact detection means can detect the magnitude of the contact pressure, it is possible to realize the control of gripping the object to be gripped with a desired gripping force.

Further, the present invention is characterized in that, in the gripping device, there is a movement pattern control means for executing control for switching movement patterns of the plurality of movable members based on a detection result of the contact detection means.
According to the gripping device of the present invention, when a plurality of movable members are moved to reduce the expansion/contraction opening, the plurality of movable members can be moved before and after the object to be grasped in the expansion/contraction opening contacts the movable member. The movement pattern of the member can be switched. For example, a moving pattern that moves the movable member at a predetermined speed is used before the contact, and a moving pattern that reduces the speed is used after the contact, or the movable member is moved so as to be gripped with an appropriate gripping force. The movement patterns can be switched such that the movement pattern is controlled so as to adjust the movement position.

Further, the present invention is a robot arm provided with a gripping device for gripping an object to be gripped, wherein the gripping device described above is used as the gripping device.
According to this robot arm, the expansion/contraction opening formed by being surrounded by the plurality of movable members can be reduced, and the object to be grasped can be grasped by the expansion/contraction opening whose peripheral edge is closed, while a part of the peripheral edge of the expansion/contraction opening is closed. The object to be grasped can be opened and inserted into the expansion/contraction opening from the opened portion, and the alignment at the time of insertion can be simplified.

Further, the present invention is an aperture expansion/contraction mechanism having an expansion/contraction opening formed by movement of a plurality of movable members, wherein a part of the movable members of the plurality of movable members has the expansion/contraction opening enlarged. A part of the peripheral edge portion of the expansion/contraction opening opens and moves so as to communicate with the outside during or after expansion.
The opening expansion/contraction mechanism can expand/contract the expansion/contraction opening formed by the plurality of movable members by moving the plurality of movable members, while enclosing the expansion/contraction opening during or after the expansion/expansion opening is expanded. By moving a part of the plurality of movable members, it is possible to open a part of the peripheral edge portion of the expansion/contraction opening and allow the expansion/contraction opening to communicate with the outside. Therefore, it is possible to eliminate the adverse effect that the peripheral portion of the expansion/contraction opening is always closed.

ADVANTAGE OF THE INVENTION According to this invention, the adverse effect by the structure which the peripheral part of the expansion/contraction opening is always closed, for example, the adverse effect that the positioning at the time of a holding|grip in a holding|gripping apparatus becomes complicated and complicated, can be eliminated.

An explanatory view showing an outline of a parts assembly system in an embodiment. FIG. 3 is an external perspective view of the robot arm in the component assembly system as seen obliquely from above. FIG. 3 is a perspective view showing a main configuration of an iris gripper used as an end effector of the robot arm. FIG. 6 is a top view showing the iris gripper in a state where the expansion/contraction opening is open and a part (notch) of the peripheral edge portion of the expansion/contraction opening is open to communicate with the outside. FIG. 4 is a top view showing the iris gripper with the expansion/contraction opening closed. The bottom view of the same iris gripper. The perspective view which shows the structure of the base part which comprises the same iris gripper. The perspective view which shows the structure of the lower unit which comprises the iris gripper. The top view which shows the structure of the same lower unit. The bottom view which shows the structure of the same lower unit. The perspective view which shows the structure of the upper unit which comprises the iris gripper. The top view which shows the structure of the upper unit. The bottom view which shows the structure of the upper unit. The top view which shows the iris gripper in the state which removed the upper side upper guide disc and the upper side disc guide in the same upper unit. FIG. 6 is a bottom view showing a state immediately after the lower unit as a whole is rotationally moved in the Y1 direction from a state where the notch of the iris gripper is opened. FIG. 16 is a bottom view showing a state in which the entire lower unit is further rotationally moved in the Y1 direction from the state shown in FIG. 15. FIG. 17 is a bottom view showing a state in which the entire lower unit further rotationally moves in the Y1 direction from the state shown in FIG. 16. FIG. 18 is a bottom view showing a state in which the entire lower unit further rotates and moves in the Y1 direction from the state shown in FIG. 17. FIG. 19 is a bottom view showing a state in which the entire lower unit further rotates and moves in the Y1 direction from the state shown in FIG. 18. FIG. 20 is a top view of the iris gripper with the upper upper guide disc 51 and the upper disc guide 53 of the upper unit 50 removed in the state shown in FIG. 19. FIG. 21 is a bottom view showing a state in which only the lower upper drive disk of the lower unit and the upper lower drive disk of the upper unit are rotationally moved in the Y1 direction and the movable blade is moved in the closing direction from the state shown in FIG. 20. FIG. 22 is a bottom view showing a state in which only the lower upper drive disk and the upper lower drive disk are rotationally moved in the Y1 direction and the movable blade is further moved in the closing direction from the state shown in FIG. 21. FIG. 23 is a bottom view showing a state in which only the lower upper drive disk and the upper lower drive disk are rotationally moved in the Y1 direction and the movable blade is further moved in the closing direction from the state shown in FIG. 22. FIG. 24 is a bottom view showing a state where only the lower upper drive disk and the upper lower drive disk are rotationally moved in the Y1 direction from the state shown in FIG. 23, and the movable blade is completely closed. FIG. 3 is a block diagram relating to opening/closing control of the iris gripper.

An embodiment in which the gripping device according to the present invention is applied as an end effector of a robot arm will be described below.
In the present embodiment, in an assembly factory for assembling parts, a robot arm is used to pick up a part from a carrying case on which a part to be grasped is loaded, and this is picked up on a part conveying conveyor of an assembling line. Place it in place. However, the gripping device according to the present invention is applied only to such a robot arm as an example, and may be applied to a robot arm used in another system or as a gripping device other than the robot arm. It may be one that is available.

FIG. 1 is an explanatory diagram showing an outline of the component assembly system in the present embodiment.
In the component assembly system 1 of the present embodiment, the robot arm 10 arranges the components in the transport case 70 placed at the component extraction position 2a at a predetermined position on the transport conveyor 71 of the component assembly system, and transports the components on the transport conveyor 71. The assembled parts are used for assembly in the subsequent assembly process. The emptied transport case 70 is moved to the case collection position 2b.

FIG. 2 is an external perspective view of the robot arm 10 as seen obliquely from above.
The robot arm 10 has a base portion 11, an arm support portion 12, an arm portion 13, a hand portion 14, a hand portion 15, and the like. The base portion 11 is fixed to the base with bolts.

The arm support portion 12 is supported by the base portion 11 so that it can be rotated by 360[°] in the direction indicated by an arrow A in the figure about a vertical axis passing through the center of the base portion 11. Further, the arm 13 has an upper arm 13a and a forearm 13b. The root-side end of the upper arm portion 13a is supported by the arm support portion 12 so as to be rotatable in a direction indicated by an arrow B in the figure about a first shaft 13c extending in the horizontal direction. Further, the root-side end of the forearm 13b is supported on the tip-side end of the upper arm 13a so as to be rotatable in the direction indicated by an arrow C in the figure about the second shaft 13d extending in the horizontal direction. Has been done.

The proximal end of the hand portion 14 is supported by the distal end portion of the forearm portion 13b so as to be rotatable in a direction indicated by an arrow D in the figure about a central axis 14a extending in the longitudinal direction of the forearm portion 13b. ing. Further, the hand portion 15 is supported by the tip end of the hand portion 14 so as to be rotatable in a direction indicated by an arrow E in the drawing about a third shaft 15a extending in the horizontal direction. Various kinds of end effectors can be attached to and detached from the hand portion 15, and in the present embodiment, an iris gripper described later is attached.

FIG. 3 is a perspective view showing the main configuration of the iris gripper 20 used as the end effector of the robot arm 10.
FIG. 4 is a top view showing the iris gripper 20 in a state (open state) in which the expansion/contraction opening for gripping is opened and a part of the peripheral edge of the expansion/contraction opening is opened to communicate with the outside.
FIG. 5 is a top view showing the iris gripper 20 in a state (closed state) in which the gripping expansion/contraction opening is closed.
FIG. 6 is a bottom view of the iris gripper 20.
The iris gripper 20 of the present embodiment mainly includes a base portion 30, a lower unit 40, and an upper unit 50. The iris gripper 20 is attached to the hand portion 15 via the base portion 30.

The iris gripper 20 of the present embodiment includes six flat plate-shaped movable blades 44A, 44B, 44C, 54A, 54B, 54C as a plurality of movable members. The movable blades 44A, 44B, 44C, 54A, 54B, 54C according to the present embodiment are laterally oriented with respect to all moving directions (directions parallel to the flat plate surfaces of the movable blades, directions parallel to the plane of FIG. 5). 5, the expansion/contraction opening 60 formed by being surrounded by the six movable blades is present. The movable blades may have the same shape or different shapes.

In the iris gripper 20 of this embodiment, six movable blades are supported by a lower unit 40 and an upper unit 50, which are different support members by three. The three movable blades 44A, 44B, and 44C supported by the lower unit 40 are arranged in an arc shape so as to be adjacent to each other on the same plane, and adjacent surfaces between adjacent movable blades (side surfaces of the movable blade) are adjacent to each other. The three movable blades 44A, 44B, and 44C move within the same plane while moving relative to each other. Similarly, the three movable blades 54A, 54B, and 54C supported by the upper unit 50 are also arranged in an arc shape so as to be adjacent to each other on the same plane, and adjacent surfaces between adjacent movable blades (movable blade The three movable blades 54A, 54B, and 54C move within the plane of the same plane while moving the side surfaces relative to each other. This point is different from a general iris mechanism (an iris mechanism applied to a diaphragm of a camera or the like) composed of a plurality of movable members arranged so as to overlap each other.

As the movable blades 44A, 44B, 44C, 54A, 54B, 54C move in conjunction with each other, a state in which the expansion/contraction opening 60 formed by being surrounded by the six movable blades is expanded as shown in FIG. 4 ( It is possible to switch between an open state) and a state (closed state) in which the expansion/contraction opening 60 is contracted as shown in FIG. Moreover, in the present embodiment, as will be described later, the three movable blades 44A, 44B, and 44C supported by the lower unit 40 have the expansion/contraction opening 60 during or after the expansion/contraction opening 60 is expanding. By moving along the peripheral edge of the expansion/contraction opening 60, a part of the peripheral edge of the expansion/contraction opening 60 (hereinafter referred to as “notch 61”) opens and communicates with the outside.

FIG. 7 is a perspective view showing the configuration of the base portion 30 that constitutes the iris gripper 20 of this embodiment.
The base portion 30 includes a base substrate 31, a drive motor 32 as a driving unit, a motor gear 33, a first base guide 34, a second base guide 35, and a base pin guide hole 36. The drive motor 32 is capable of rotating in the forward and reverse directions and is fixed to the base substrate 31. The motor gear 33 is rotated by the driving force from the driving motor 32 and meshes with the driving gear 43 of the lower unit 40 described later to transmit the driving force. The first base guide 34 guides the inner peripheral side of the lower lower guide disk 41 of the lower unit 40, which will be described later, and the second base guide 35, when rotating the lower lower guide disk 41, Guide the outer circumference. The base pin guide hole 36 engages with a lower guide pin 46 of a lower unit 40, which will be described later, and guides the movement of the lower guide pin 46 that moves in conjunction with the rotation of the lower lower guide disk 41.

FIG. 8 is a perspective view showing the configuration of the lower unit 40.
FIG. 9 is a top view showing the configuration of the lower unit 40.
FIG. 10 is a bottom view showing the configuration of the lower unit 40.
The lower unit 40 mainly includes a lower lower guide disk 41, a lower upper drive disk 42, a drive gear 43, lower movable blades 44A, 44B and 44C as movable members, and anti-slip members 45A, 45B and 45C. A lower guide pin 46 provided on the lower surface of the lower lower guide disc 41, lower guide elongated holes 47A to 47C provided on the lower lower guide disc 41, and a drive transmission pin 48.

In the lower unit 40, the lower lower guide disk 41 and the lower upper drive disk 42 sandwich the three lower movable blades 44A to 44C, which are arcuately arranged on the same plane as described above, from both sides of their flat plate surfaces. Will be placed. The lower unit 40 is mounted on the base portion 30 so that the lower guide pins 46 provided on the lower surface of the lower lower guide disk 41 enter the base pin guide holes 36 of the base portion 30.

A drive gear 43 meshing with a motor gear 33 of the drive motor 32 is fixed to the peripheral portion of the lower upper drive disk 42, and is rotatable around the central axis O of the expansion/contraction opening 60 integrally with the drive gear 43. is there. On the other hand, the lower lower guide disc 41 also has the expansion/contraction opening 60 within a range in which the lower guide pin 46 provided on the lower surface of the lower lower guide disc 41 can move along the base pin guide hole 36 of the base portion 30. It can be rotated about the central axis O. The lower lower guide disk 41 and the lower upper drive disk 42 are configured to be rotatable relative to each other.

As shown in FIG. 10, the lower lower guide disk 41 is provided with lower guide elongated holes 47A to 47C as a regulating portion that regulates the moving direction of each of the lower movable blades 44A to 44C. The guide protrusions 44a of the lower movable blades 44A to 44C are inserted into these lower guide elongated holes 47A to 47C. Thereby, when the moving force is applied to each of the lower movable blades 44A to 44C, the guide protrusions 44a of each of the lower movable blades 44A to 44C are guided along the respective lower guide elongated holes 47A to 47C, and the predetermined movement is performed. Move in the direction of movement.

In the present embodiment, since the lower guide elongated holes 47A to 47C are linear and the guide protrusions 44a are elongated along the lower guide elongated holes 47A to 47C, the lower guide of the lower lower guide disk 41 is formed. The lower movable blades 44A to 44C that are guided and moved by the long holes 47A to 47C are translated in the longitudinal direction of the lower guide long holes 47A to 47C, respectively.

On the other hand, in the lower upper drive disk 42, as shown in FIGS. 8 and 9, lower transmission elongated holes 42A to 42C for transmitting a moving force to the respective lower movable blades 44A to 44C are formed. The transmitted projections 44b of the lower movable blades 44A to 44C are inserted into these lower transmission elongated holes 42A to 42C. Accordingly, when the lower upper drive disk 42 is rotationally moved around the central axis O of the expansion/contraction opening 60 by the driving force of the drive motor 32, the lower upper drive disk 42 is pushed by the inner wall surfaces of the lower transmission elongated holes 42A to 42C of the lower upper drive disk 42, A moving force is applied to the transmitted projection 44b of each of the lower movable blades 44A to 44C.

FIG. 11 is a perspective view showing the configuration of the upper unit 50.
FIG. 12 is a top view showing the configuration of the upper unit 50.
FIG. 13 is a bottom view showing the configuration of the upper unit 50.
The upper unit 50 mainly includes an upper upper guide disc 51, an upper lower drive disc 52, an upper disc guide 53 fixed to a peripheral portion of the upper upper guide disc 51, and an upper movable blade 54A as a movable member. 54B and 54C, anti-slip members 55A, 55B and 55C, a lower disc guide 56 fixed to the peripheral portion of the upper lower drive disc 52, and an upper guide slot 57A provided on the upper upper guide disc 51. 57C and a driven transmission groove 58. As shown in FIG. 13, the driven transmission groove 58 is formed in the lower disk guide 56 along the peripheral edge of the upper lower drive disk 52 in an arc shape centered on the central axis O of the expansion/contraction opening 60. .

FIG. 14 is a top view showing a state in which the upper upper guide disk 51 and the upper disk guide 53 of the upper unit 50 of the iris gripper 20 are removed.
In the upper unit 50, the upper upper guide disk 51 and the upper lower drive disk 52 have three upper movable blades 54A to 54C arranged in a circular arc on the same plane, like the lower unit 40 described above. It is arranged so as to be sandwiched from both sides. The upper unit 50 includes a lower unit 40 such that the drive transmission pin 48 provided on the upper surface of the lower upper drive disc 42 of the lower unit 40 is inserted into an arcuated driven transmission groove 58 formed in the lower disc guide 56. Mounted on. At this time, since the upper disc guide 53 is fixed to the base substrate 31 of the base portion 30, the upper upper guide disc 51 fixed to the upper disc guide 53 is also fixed to the base substrate 31. The upper lower drive disk 52 is configured to be rotatable relative to the upper upper guide disk 51 (and the upper disk guide 53 fixed thereto).

As shown in FIGS. 11 and 12, the upper upper guide disk 51 is formed with upper guide elongated holes 57A to 57C as restriction portions that restrict the moving direction of the respective upper movable blades 54A to 54C. The guide protrusions 54a of the upper movable blades 54A to 54C enter into the upper guide elongated holes 57A to 57C. Thereby, when a moving force is applied to each of the upper movable blades 54A to 54C, the guide protrusions 54a of each of the upper movable blades 54A to 54C are guided along the respective upper guide elongated holes 57A to 57C, and a predetermined amount is obtained. Move in the direction of movement.

In the present embodiment, since the upper guide elongated holes 57A to 57C are linear and the guide protrusion 54a is elongated along the upper guide elongated holes 57A to 57C, the upper guide length of the upper upper guide disk 51 is small. The upper movable blades 54A to 54C, which are guided and moved by the holes 57A to 57C, move in parallel in the longitudinal direction of the upper guide slots 57A to 57C, respectively. At this time, each of the upper movable blades 54A to 54C moves in a predetermined moving direction while being guided by the guide-shaped portion 56a provided on the lower disk guide 56 on its side, as shown in FIG.

On the other hand, in the upper lower drive disk 52, as shown in FIG. 13, upper transmission elongated holes 52A to 52C for transmitting the moving force to the respective upper movable blades 54A to 54C are formed. The transmitted protrusions 54b of the respective upper movable blades 54A to 54C enter into these upper transmission elongated holes 52A to 52C. As a result, when the driving force of the drive motor 32 is transmitted and the upper lower drive disk 52 rotates about the central axis O of the expansion/contraction opening 60, the upper transmission elongated holes 52A to 52C of the upper lower drive disk 52 are not moved. When pushed by the wall surface, a moving force is applied to the transmitted projections 54b of the upper movable blades 54A to 54C.

Next, in the present embodiment, from the state where the notch 61 of the iris gripper 20 is open, the operation in the closing direction Y1 that closes the notch 61 and closes the expansion/contraction opening 60 of the iris gripper 20 will be described with reference to FIGS. This will be described using 24.
15 to 19 are bottom views of the iris gripper 20 in which the base portion is shown by a chain double-dashed line, and FIGS. 20 to 24 show a state in which the upper upper guide disc 51 and the upper disc guide 53 of the upper unit 50 are removed. It is a top view of the iris gripper 20 of FIG.
The operation in the opening direction Y2 from the state in which the expansion/contraction opening 60 of the iris gripper 20 is closed to the state in which the expansion/contraction opening 60 is opened and the notch 61 is opened is the same as the operation in the reverse order. Omit it.

When the drive motor 32 is driven in the direction corresponding to the closing direction Y1 with the notch 61 of the iris gripper 20 opened, the drive force is transmitted to the drive gear 43 of the lower unit 40 via the motor gear 33. .. As a result, a moving force for rotationally moving in the Y1 direction around the central axis O of the expansion/contraction opening 60 is applied to the lower upper drive disk 42 to which the drive gear 43 is fixed. As a result, the lower upper drive disk 42 rotationally moves in the Y1 direction around the central axis O of the expansion/contraction opening 60, as shown in FIGS.

Due to the rotational movement of the lower upper drive disk 42, the transfer projection 44b of each of the lower movable blades 44A to 44C that engages with the lower transmission elongated holes 42A to 42C of the lower upper drive disk 42 is also moved in the Y1 direction. Will be granted.

Here, the lower lower guide disc 41 of the lower unit 40 has a lower guide pin 46 provided on the lower surface of the lower lower guide disc 41 in a state where the notch 61 of the iris gripper 20 is opened. It is located at the Y1 direction upstream end of the base pin guide hole 36 formed in the substrate 31. Therefore, the lower lower guide disk 41 is in a state of being rotatable in the Y1 direction around the central axis O of the expansion/contraction opening 60 while the lower guide pin 46 is guided by the base pin guide hole 36 of the base substrate 31.

Therefore, when the moving force in the Y1 direction is applied to each of the lower movable blades 44A to 44C by the rotational movement of the lower upper drive disk 42, the lower lower guide disk with which the guide protrusion 44a of each of the lower movable blades 44A to 44C engages. A moving force in the Y1 direction is also applied to the lower guide elongated holes 47A to 47C of 41. As a result, the lower lower guide disk 41, together with the lower upper drive disk 42 and the lower movable blades 44A to 44C, has the lower guide pin 46 guided along the base pin guide hole 36 and the central axis of the expansion/contraction opening 60. Rotate around O in Y1 direction. That is, when the drive motor 32 is driven in the direction corresponding to the closing direction Y1 with the notch 61 of the iris gripper 20 opened, the entire lower unit 40 moves in the Y1 direction as shown in FIGS. Move to rotate.

At this time, the drive transmission pin 48 provided on the upper surface of the lower upper drive disk 42 also rotates in the Y1 direction. The drive transmission pin 48 is located at the upstream end of the arc-shaped driven transmission groove 58 formed in the lower disk guide 56 of the upper unit 50 in the Y1 direction when the notch 61 of the iris gripper 20 is open. ing. Therefore, even if the entire lower unit 40 is rotationally moved in the Y1 direction from the state where the notch 61 of the iris gripper 20 is opened, the movement force is not transmitted from the drive transmission pin 48 to the upper unit 50, and FIGS. As shown in FIG. 19, the upper unit 50 remains stationary and does not rotate.

In this way, the entire lower unit 40 rotates in the Y1 direction, and when the lower guide pin 46 reaches the downstream end of the base pin guide hole 36 in the Y1 direction as shown in FIG. 19, the expansion/contraction opening 60 is cut. The notch 61 is closed by the lower unit 40. At this time, the drive transmission pin 48 of the lower upper drive disk 42 also reaches the downstream end of the driven transmission groove 58 of the upper unit 50 in the Y1 direction, as shown in FIG.

From this state, when the drive motor 32 is further driven in the direction corresponding to the closing direction Y1, in the lower unit 40, the lower upper drive disk 42 is further moved to the expansion/contraction opening 60 as shown in FIGS. It rotates around the central axis O in the Y1 direction. At this time, in the lower lower guide disk 41, the lower guide pin 46 provided on the lower surface thereof is prevented from rotating in the Y1 direction by the Y1 direction downstream end of the base pin guide hole 36 of the base substrate 31. Therefore, the lower lower guide disk 41 is prohibited from rotationally moving in the Y1 direction, and only the lower upper drive disk 42 rotationally moves in the Y1 direction while the lower lower guide disk 41 is stopped.

In this way, when the lower upper drive disk 42 rotationally moves in the Y1 direction, the lower upper drive disk 42 is pushed by the inner wall surfaces of the lower transfer elongated holes 42A to 42C of the lower upper drive disk 42, and the transferred projection 44b of each of the lower movable blades 44A to 44C. The movement power is given to. At this time, the lower lower guide disk 41 having the lower guide elongated holes 47A to 47C with which the guide protrusions 44a of the lower movable blades 44A to 44C are engaged is prohibited from rotating in the Y1 direction as described above. .. Therefore, when a moving force in the Y1 direction is applied to each of the lower movable blades 44A to 44C by the rotational movement of the lower upper drive disk 42, each of the lower movable blades 44A to 44C has a guide projection 44a in each of the lower guide elongated holes. Guided along 47A to 47C, as shown in FIGS. 20 to 24, it moves in the direction of closing the expansion/contraction opening 60.

On the other hand, in the upper unit 50, the drive transmission pin 48 provided on the upper surface of the lower upper drive disk 42 reaches the downstream end of the driven transmission groove 58 in the lower disk guide 56 of the upper unit 50 in the Y1 direction. Therefore, when the lower upper drive disk 42 of the lower unit 40 rotationally moves in the Y1 direction around the central axis O of the expansion/contraction opening 60, as shown in FIGS. 20 to 24, the drive transmission pin 48 causes the driven transmission groove 58. In the Y1 direction, the lower disk guide 56 of the upper unit 50 starts rotating around the central axis O of the expansion/contraction opening 60 in the Y1 direction. This pushes against the inner wall surfaces of the upper transmission elongated holes 52A to 52C of the upper lower drive disk 52 to give a moving force to the transmitted projection 54b of each of the upper movable blades 54A to 54C.

At this time, since the upper upper guide disk 51 having the upper guide elongated holes 57A to 57C with which the guide protrusions 54a of the upper movable blades 54A to 54C are engaged is fixed to the base substrate 31 of the base portion 30, Y1. Rotational movement in the direction is prohibited. Therefore, when the moving force in the Y1 direction is applied to each of the upper movable blades 54A to 54C by the rotational movement of the upper lower drive disk 52, each of the upper movable blades 54A to 54C has a guide protrusion 54a. Guided along the holes 57A to 57C, as shown in FIG. 20 to FIG. 24, it moves in the direction to close the expansion/contraction opening 60.

In the present embodiment, in a state where the cutout 61 of the iris gripper 20 is opened, an object to be grasped (component) is inserted from the cutout 61 into the expansion/contraction opening 60, and then the drive motor 32 is closed in the closing direction Y1. Drive in the direction corresponding to. As a result, first, the entire lower unit 40 is rotationally moved in the Y1 direction to close the notch 61. After that, when the drive motor 32 is further driven in the direction corresponding to the closing direction Y1, the lower movable blades 44A to 44C of the lower unit 40 and the upper movable blades 54A to 54C of the upper unit 50 respectively move to the movable blades 44A to 44C. , 54A to 54C are moved in parallel so as to proceed toward the central axis O of the expansion/contraction opening 60. As a result, the expansion/contraction opening 60 formed by being surrounded by the six movable blades 44A to 44C and 54A to 54C is reduced as viewed from the opening axis direction. When there is no object (part) to be grasped in the expansion/contraction opening 60, as shown in FIG. 24, the expansion/contraction opening 60 is in a completely closed state when viewed from the opening axis direction.

In the present embodiment, the lower movable blades 44A to 44C of the lower unit 40 and the upper movable blades 54A to 54C of the upper unit 50 are adjacent to each other on the same plane. The movable blades 54A to 54C are arranged so as to be offset from each other in the opening axis direction. Even with such an arrangement, there is no problem in grasping an object (component) to be grasped by the expansion/contraction opening 60. However, it is more stable if the plurality of iris grippers 20 are coaxially arranged so that the notches 61 are aligned with each other and the expansion/contraction opening 60 of the plurality of iris grippers 20 grips an object to be gripped (component). It is possible to grip the object to be gripped.

Each of the disks 41, 42, 51, 52 of the base substrate 31, the lower unit 40, and the upper unit 50 has a shape in which a portion facing the expansion/contraction opening 60 penetrates. Thus, when the object to be grasped is grasped by the expansion/contraction opening 60, the object to be grasped does not interfere with the disks of the base substrate 31, the lower unit 40 and the upper unit 50. Each disk 41, 42, 51, 52 of the base substrate 31, the lower unit 40 and the upper unit 50 has a shape in which a space is formed in a portion corresponding to the cutout 61. Thus, when the object to be grasped is inserted into the expansion/contraction opening 60 from the notch 61, the object to be grasped does not interfere with the disks of the base substrate 31, the lower unit 40 and the upper unit 50.

When the robot arm 10 grips a component in the transport case 70, the iris gripper 20 with the notch 61 opened can control the rotation of each axis of the robot arm 10 to grip the component in the transport case 70. Move to position. If the gripping device does not have the notch 61 and the peripheral portion of the expansion/contraction opening 60 is always closed, when gripping an object to be grasped, the object to be grasped from the opening axis direction with respect to the expansion/contraction opening 60 in the open state. Is required to be inserted into the expansion/contraction opening. In this case, in order to insert the object to be grasped into the expansion/contraction opening 60, the grasping device with respect to the object to be grasped is accurately adjusted in two directions (two-dimensional directions) orthogonal to the opening axis direction of the expansion/contraction opening 60. Good alignment is required. On the other hand, if the expansion/contraction opening 60 has the notch 61 as in the present embodiment, when grasping the object to be grasped, the object to be grasped is inserted into the enlargement/reduction opening 60 from the notch 61. You can In this case, in order to insert the object to be grasped into the expansion/contraction opening 60, it is sufficient to position the cutout 61 of the iris gripper 20 so as to face the side surface of the object to be grasped. The gripping device may be accurately aligned with the object to be gripped only in one direction orthogonal to the direction. Therefore, positioning at the time of gripping is easier than in the configuration in which the peripheral edge of the expansion/contraction opening is always closed.

Further, in the gripping device in which the peripheral edge of the expansion/contraction opening 60 is always closed without the notch 61, an object to be grasped having a maximum size larger than the size of the expansion/contraction opening 60 in the open state cannot be inserted into the expansion/contraction opening 60. , Can not be grasped. On the other hand, if the expansion/contraction opening 60 has the notch 61 as in the present embodiment, even if the object to be grasped has a maximum size larger than the size of the expansion/contraction opening 60 in the open state, a part of the expansion/contraction opening will be opened. If the size is smaller than the size of 60, the object to be gripped can be gripped.

Further, according to the iris gripper 20 according to the present embodiment, the component (object to be grasped) which is grasped by the expanding/contracting opening 60 to be contracted is the non-slip member 45A-45C of the six movable blades 44A-44C, 54A-54C. , 55A to 55C, they are brought closer to the central axis O of the expansion/contraction opening 60, and finally the central position of the component is aligned with the central axis O of the expansion/contraction opening 60 and gripped. Therefore, there is no variation in the grip position of the component on the iris gripper, and the grip position accuracy is high. Therefore, when the component picked up from the transport case 70 is placed on the component transfer conveyor 71, the component can be accurately placed at the target position on the component transfer conveyor 71.

Further, according to the iris gripper 20 according to the present embodiment, even if the object to be grasped is a large number of linear objects (wires or the like) or rod-shaped objects, the six movable blades 44A to 44C, 54A. The anti-slip members 45A, 45B, 45C, 55A, 55B, 55C of 54C to 54C surround the side surface of the object to be grasped from all directions. Therefore, there is no escape area for the object to be grasped, and even a large number of linear objects or the like can be properly grasped.

In addition, the six movable blades 44A to 44C and 54A to 54C according to the present embodiment have a basic shape of an equilateral triangle whose vertices are 60°, and remove two vertices related to a portion that does not contribute to the formation of the expansion/contraction opening 60. As a result, the non-triangular shape is formed as shown in FIG. As a result, the contact area between the disks 41, 42, 51, 52 and the movable blades 44A to 44C, 54A to 54C is reduced, and a smooth expansion/contraction operation of the expansion/contraction opening 60 is realized. Further, as a result of reducing the portions of the movable blades 44A to 44C and 54A to 54C that project outward when the expansion/contraction opening 60 is opened, the size of the iris gripper 20 can be reduced.

Next, the opening/closing control of the iris gripper 20 will be described.
FIG. 25 is a block diagram relating to opening/closing control of the iris gripper 20.
The drive motor 32 that applies a moving force to the movable blades 44A to 44C and 54A to 54C to open and close the expansion/contraction opening 60 is drive-controlled by the control device 65. The control device 65 sends a drive signal to the drive motor 32 so as to open and close the expansion/contraction opening 60 in accordance with a control command from the host controller. The drive motor 32 drives according to a drive signal, and gives a moving force to the movable blades 44A to 44C and 54A to 54C. As a result, the expansion/contraction opening 60 performs the opening/closing operation (including the opening/closing operation of the notch 61) according to the control command.

The control device 65 of the present embodiment grasps the rotation angle of the drive motor 32 from the drive signal sent to the drive motor 32. Since the rotation angle corresponds to the positions of the movable blades 44A to 44C and 54A to 54C, the control device 65 can grasp the positions of the movable blades 44A to 44C and 54A to 54C. The position of the movable blades 44A to 44C and 54A to 54C can determine whether or not the cutout 61 is open. Therefore, the control device 65 of the present embodiment is an opening/closing detection unit that detects whether or not the cutout 61 is open. Function as. The opening/closing detection means is not limited to this, and for example, another configuration that detects the positions of the movable blades 44A to 44C and 54A to 54C and detects whether or not the notch 61 is opened is adopted. Good. Further, for example, a photo sensor is attached to the lower lower guide disk 41, and the photo sensor detects whether or not the upper lower drive disk 52 has reached a position overlapping the lower lower guide disk 41, and the notch 61 is formed. You may employ|adopt the structure which detects whether or not was opened.

When the control device 65 controls the drive motor 32 to move the movable blades 44A to 44C to cause the object to be grasped to enter the expansion/contraction opening 60 from the opened notch 61, the controller 65 functions as an opening/closing detection means. Make sure 61 is open. As a result, in the state where the notch 61 is not opened, an improper operation that causes the grasped object to enter the expansion/contraction opening 60 is suppressed, and the control for appropriately inserting the grasped object into the expansion/contraction opening 60 is realized. it can.

Similarly, the control device 65 controls the drive motor 32 to move the movable blades 44</b>A to 44</b>C so as to open/close the object to be grasped in the expansion/contraction opening 60 from the cutout 61, and functions as an opening/closing detection unit. Confirm that the notch 61 is open. As a result, in the state where the notch 61 is not opened, an improper operation that attempts to move the grasped object out of the expansion/contraction opening 60 is suppressed, and the control of appropriately ejecting the grasped object out of the expansion/contraction opening 60 is performed. realizable.

In addition, the control device 65 controls the drive motor 32 to move the movable blades 44A to 44C to close the notch 61 and the expansion/contraction opening 60, for example, even if the specified time is exceeded, or the drive is performed. Even if the rotation angle of the motor 32 exceeds the specified angle, if it is not detected that the notch 61 is closed, the drive motor 32 is rotated in the reverse direction to return to the control initial state, and the control may be restarted from the beginning. Good.

Further, the control device 65 of the present embodiment functions as a load detection unit that detects the moving load when moving the movable blades 44A to 44C and 54A to 54C by receiving the feedback of the output torque of the drive motor 32. As a result, the control device 65 of the present embodiment realizes control for interrupting the movement of the movable blades 44A to 44C and 54A to 54C when the movement load of the movable blades 44A to 44C and 54A to 54C becomes excessive. be able to.

In particular, the control device 65 of the present embodiment functions as an interruption control unit, determines that the notch 61 is not closed by the function of the opening/closing detection unit described above, and determines the movable blade by the function of the load detection unit. When it is determined that the moving loads of 44A to 44C and 54A to 54C exceed the threshold value, it is assumed that the object to be grasped is sandwiched in the notch 61, and control for interrupting the movement of the movable blades 44A to 44C and 54A to 54C is performed. Run. As a result, the object to be grasped is sandwiched between the notches 61, and the movable blades 44A to 44C, 54A to 54C, the motor gear 33, the drive motor 32, or the object to be grasped can be prevented from being damaged or damaged. ..

Further, the control device 65 of the present embodiment functions as a torque control unit, adjusts the drive signal by receiving the feedback of the output torque of the drive motor 32, and grips an object (part) to be grasped in the expansion/contraction opening 60. The gripping force (contact pressure) is feedback-controlled. Thereby, a desired gripping force according to the control command can be stably obtained.

Further, in the present embodiment, the non-slip members 45A to 45C and 55A to 55C of the movable blades 44A to 44C and 54A to 54C that come into contact with the object to be grasped (components) are brought into contact with the object to be grasped (components). Pressure sensors 62A to 62F, which are contact detection means as information acquisition means for detection, are provided. Information on the contact pressure detected by the pressure sensors 62A to 62F is sent to the control device 65. The control device 65 of the present embodiment functions as a contact control unit, adjusts the drive signal according to the information of the contact pressure from the pressure sensors 62A to 62F, and moves the object to be grasped (component) in the expansion/contraction opening 60. The gripping force for gripping is directly feedback-controlled. Thereby, a desired gripping force according to the control command can be stably obtained. For example, when gripping an object to be gripped, an appropriate constant gripping force can be obtained by controlling the drive signal so that the contact pressure detected by the pressure sensors 62A to 62F becomes constant at the target contact pressure. The object to be grasped can be grasped with.

Further, the control device 65 of the present embodiment functions as a movement pattern control means. Specifically, when moving the movable blades 44A to 44C and 54A to 54C to reduce the expansion/contraction opening 60, first, the movement of the movable blade is controlled in a movement pattern that moves the movable blade at a predetermined speed. After that, the control device 65 determines whether the object to be grasped in the expansion/contraction opening 60 has abutted against the slip preventing members 45A to 45C and 55A to 55C of the movable blade according to the contact pressure information from the pressure sensors 62A to 62F. Determine whether or not. Then, when it is determined that the contact is made, the movement pattern of the movable blade is switched to another movement pattern. Specifically, the movement signal is adjusted by receiving the feedback of the output torque of the drive motor 32 to adjust the drive signal, and feedback control is performed so that the grasping force for grasping the object to be grasped in the expansion/contraction opening 60 becomes a desired grasping force. Switch.

Further, in the present embodiment, in addition to the pressure sensors 62A to 62F, various information acquisition means for acquiring information on the movable blades 44A to 44C, 54A to 54C and the object to be grasped (part) are provided on the movable blades 44A to 44C, You may install on 54A-54C. In the present embodiment, as an example of the information acquisition means, as shown in FIG. 25, the non-slip members 45A to 45C, 55A to 55C of the movable blades 44A to 44C, 54A to 54C that come into contact with the object to be grasped (component) are provided. , Temperature sensors 63A to 63F are provided. Upon receiving the temperature information from the temperature sensors 63A to 63F, the control device 65 of the present embodiment transmits this to the host controller. As a result, the upper control unit can grasp the temperature of the object to be grasped (component) grasped in the expansion/contraction opening 60.

Further, as another example of the information acquisition unit, for example, an image sensor (part) that is installed on the upper surface or the lower surface of the movable blades 44A to 44C and 54A to 54C and that captures an object (part) to be gripped in the expansion/contraction opening 60 ( Imaging means). As a result, it is possible to recognize the object to be grasped (part) from the captured image.

It should be noted that the present embodiment is an example in which the present invention is applied to a gripping device of a robot arm or the like, but the present invention is not limited to this, and a plurality of movable members move to be surrounded by the plurality of movable members. Any device can be applied as long as it is a device that uses an opening expansion/contraction mechanism in which the expansion/contraction opening formed expands/contracts.

1: Component assembly system 10: Robot arm 20: Iris gripper 30: Base part 31: Base substrate 32: Drive motor 33: Motor gear 34: First base guide 35: Second base guide 36: Base pin guide hole 40: Lower unit 41: Lower lower guide disc 42: Lower upper drive disc 42A to 42C: Lower transmission elongated hole 43: Drive gears 44A to 44C: Lower movable blade 44a: Guide protrusion 44b: Transmitted protrusion 45A to 45C: Anti-slip member 46: Lower guide pin 47A to 47C: Lower guide elongated hole 48: Drive transmission pin 50: Upper unit 51: Upper upper guide disc 52: Upper lower drive disc 52A to 52C: Upper transmission elongated hole 53: Upper disc guide 54A to 54C: Upper movable blade 54a: Guide protrusion 54b: Transmitted protrusions 55A to 55C: Anti-slip member 56: Lower disc guide 56a: Guide shape portions 57A to 57C: Upper guide elongated hole 58: Driven transmission groove 60: Expansion/contraction opening 61: Notches 62A to 62F: Pressure sensors 63A to 63F: Temperature sensor 65: Control device

JP, 2017-1332032, A

Claims (14)

A gripping device which has an expansion/contraction opening formed by movement of a plurality of movable members, and which grips an object to be grasped in the expansion/contraction opening by reducing the expansion/contraction opening,
Some movable members of the plurality of movable members may move during or after the expansion/contraction opening is expanded so that a part of the peripheral edge of the expansion/contraction opening opens and communicates with the outside. Characterizing gripping device. The gripping device according to claim 1,
The gripping device, wherein the plurality of movable members move such that the center position of the expansion/contraction opening is fixed during expansion/contraction of the expansion/contraction opening. The gripping device according to claim 1 or 2,
After the expansion/contraction opening is enlarged, the part of the movable member moves along the peripheral edge of the expansion/contraction opening to move a part of the peripheral edge of the expansion/contraction opening to communicate with the outside. A gripping device characterized by the above. The gripping device according to any one of claims 1 to 3,
Of the plurality of movable members, a part of the movable members supported by the first support portion and another movable member supported by the second support portion are moved so that the expansion/contraction opening is expanded/contracted. Transportation means,
A gripping device comprising: a second moving unit that relatively moves the first supporting unit with respect to the second supporting unit so that a part of a peripheral portion of the expansion/contraction opening is opened and communicates with the outside. The gripping device according to claim 4,
The gripping device is characterized in that the driving force of the first moving means and the driving force of the second moving means are transmitted from the same driving means. The gripping device according to claim 5,
A moving member that moves by a driving force from the driving means,
Until the expansion/contraction opening is enlarged, the first moving means is interlocked with the movement of the moving member while the relative movement by the second moving means is prohibited, and the one movable member and the other movable member. After the expansion/contraction opening is enlarged, the second moving means moves the moving member while the movement of the part of the movable member and the other movable member by the first moving means is prohibited. A gripping device characterized in that the first support part is moved relative to the second support part in conjunction with. The gripping device according to any one of claims 4 to 6,
The plurality of movable members are flat plate-shaped members,
At least one of the second support portion and the first support portion faces a flat plate surface of one of the movable members to be supported, and a fixed member having a restriction portion that restricts a moving direction of the movable member; and the movable member. And a moving force transmitting member that transmits a moving force in the moving direction to the movable member, the gripping device being opposed to the other flat plate surface. The gripping device according to any one of claims 4 to 7,
The gripping device, wherein the second moving means relatively moves the first support portion at a position deviated from the second support portion in a direction orthogonal to the moving direction of the plurality of movable members. The gripping device according to any one of claims 1 to 8,
A gripping device having an opening/closing detection means for detecting whether or not a part of a peripheral portion of the expansion/contraction opening is opened. The gripping device according to claim 9,
Load detecting means for detecting a moving load when moving the plurality of movable members,
A grasping device comprising: an interruption control unit that executes control for interrupting movement of the plurality of movable members based on a detection result of the opening/closing detection unit and a detection result of the load detection unit. The gripping device according to any one of claims 1 to 10,
At least one of the plurality of movable members includes contact detection means for detecting contact with the object to be grasped. The gripping device according to claim 11,
A gripping device having a movement pattern control means for executing control for switching movement patterns of the plurality of movable members based on a detection result of the contact detection means. A robot arm having a gripping device for gripping an object to be gripped,
A robot arm using the gripping device according to any one of claims 1 to 12 as the gripping device. An opening expansion/contraction mechanism having an expansion/contraction opening formed by moving a plurality of movable members,
Some movable members of the plurality of movable members may move during or after the expansion/contraction opening is expanded so that a part of the peripheral edge of the expansion/contraction opening opens and communicates with the outside. A characteristic aperture expansion/contraction mechanism.

Images