JP6191432B2 - Covering material and covering structure of robot gripping part - Google Patents

Description

  The present invention relates to a covering material and a covering structure of a robot gripper, and more specifically, according to various gripping target objects, a covering material and a robot gripper capable of exhibiting appropriate gripping performance for gripping the object It is related with the coating structure.

  Conventionally, industrial robots have been introduced into the production lines of factories, contributing to the improvement of production efficiency. Industrial robots have an excellent function of gripping an object such as a part or article flowing in one line and accurately transferring it to another line any number of times.

  In order to hold the object, air check type or multi-finger type robot hands are used for industrial robots.

  Objects to be gripped by such robot hands are heavy, light, large, small, micro, hard, soft, brittle, hard, or a mixture or change of these. There are various things. Therefore, many contrivances have been made to the material, shape, dimensions, properties, etc. of the surface of the robot gripping part of the robot hand that greatly affects the gripping performance.

  For example, the robot gripping part is made of a soft material such as rubber or resin, the operation is controlled by attaching a sensitive part such as a sensor (Patent Document 1), a material having a large friction coefficient on the surface, Protrusions with irregularities (Patent Document 2), surfaces coated with an elastic material (Patent Document 3), and the like have been proposed, and measures are taken to increase the gripping performance in terms of material, physical and chemical properties. .

  For this reason, when an object to be gripped is determined, such as an industrial robot hand used in an assembly production line or a robot hand that performs only a specific work, the gripping unit is optimized by optimizing the material according to the object. Gripping performance can be improved by taking measures to optimize the adhesiveness and friction coefficient of the surface.

Japanese Patent Laid-Open No. 8-300289 Japanese Patent No. 49672828 Japanese Patent No. 4918004

  However, since robot hands that do not have a specific work, such as partner robots and nursing robots, and industrial and space robot hands that are not limited to specific work, the object to be gripped is not specified. It is difficult to take measures to improve the gripping performance of the robot gripping part by optimizing the adhesiveness and friction coefficient of the part surface.

  For example, if the object to be gripped is a heavy object, the robot gripping part can appropriately support the weight of the object, so that the surface of the robot gripping part has a relatively large What is necessary is just to give a friction coefficient. However, if a lightweight object is gripped by the robot gripping part having such a large adhesiveness or friction coefficient, the lightweight object may stick to the surface of the robot gripping part when released and the workability may be significantly deteriorated. .

  Conversely, when a relatively small adhesiveness or friction coefficient is given to the surface of the robot gripping part in accordance with the gripping of the lightweight object, there is a risk that the heavy object will be slid when the heavy object is gripped.

  In other words, since the request for gripping varies depending on the object to be gripped, there is a problem that cannot be handled only by selecting the surface material.

  Accordingly, an object of the present invention is to provide a covering material that can exhibit appropriate gripping performance for gripping an object according to various objects to be gripped.

  It is another object of the present invention to provide a robot gripping portion covering structure capable of exhibiting appropriate gripping performance for gripping an object according to various gripping target objects.

  Other problems of the present invention will become apparent from the following description.

  The above problems are solved by the following inventions.

1. A covering material provided on the surface of a substrate having a function of gripping an object,
An inner layer made of an elastic body, and an outer layer made of an elastic body that comes into contact with the object when the object is held on the surface of the inner layer;
The inner layer is composed of an elastic body having higher adhesiveness than the outer layer and having a lower hardness than the outer layer,
The outer layer has one or more penetrating portions penetrating so as to reach the inner layer, and when a stress acting on the object is applied, a part of the inner layer is selected according to the magnitude of the stress. Is configured to penetrate into or protrude from the through portion.

  2. 2. The covering material according to claim 1, wherein the inner layer elastic body has a Shore A hardness of 0 to 40 degrees, and the outer layer elastic body has a height of Shore A hardness of 40 to 90 degrees.

  3. 3. The covering material according to 1 or 2, wherein the elastic body used for the inner layer is silicon gel or urethane gel, and the elastic body used for the outer layer is silicon rubber or urethane rubber.

4). An inner layer made of an elastic body on the surface of the robot gripping part having a function of gripping an object, and an outer layer made of an elastic body that comes into contact with the object when the object is gripped on the surface of the inner layer;
The inner layer is composed of an elastic body having higher adhesiveness than the outer layer and having a lower hardness than the outer layer,
The outer layer has one or more penetrating portions penetrating so as to reach the inner layer, and when a stress acting on the object is applied, a part of the inner layer is selected according to the magnitude of the stress. A structure for covering the robot gripping part, wherein the covering part is configured to enter or protrude from the penetrating part.

  5. 5. The robot gripping part according to claim 4, wherein the inner layer elastic body has a Shore A hardness of 0 to 40 degrees, and the outer layer elastic body has a height of Shore A hardness of 40 to 90 degrees. Covering structure.

  6). 6. The robot gripper covering structure according to 4 or 5, wherein the elastic body used for the inner layer is silicon gel or urethane gel, and the elastic body used for the outer layer is silicon rubber or urethane rubber.

  ADVANTAGE OF THE INVENTION According to this invention, the coating | covering material which can exhibit suitable holding | grip performance in order to hold | grip this object according to various objects to be hold | gripped can be provided.

  Furthermore, according to the present invention, it is possible to provide a covering structure for a robot gripper that can exhibit appropriate gripping performance for gripping an object according to various gripping target objects.

Front view showing an example of a covering structure of a robot gripping part using the covering material of the present invention in a robot hand Sectional drawing which follows the (ii)-(ii) line in FIG. Explanatory drawing explaining a state where the object X1, which is a lightweight object, is gripped by the robot gripping unit. Explanatory drawing explaining the effect | action of the robot holding part at the time of holding a lightweight thing with sectional drawing which follows the (ii)-(ii) line | wire in FIG. Explanatory drawing explaining the effect | action of the robot holding part at the time of holding a lightweight thing with a front view Explanatory drawing explaining a state which grips the object X2 which is a heavy article with a robot holding part. Explanatory drawing explaining the effect | action of the robot holding part at the time of holding | gripping a heavy article with sectional drawing in alignment with the (ii)-(ii) line in FIG. Explanatory drawing explaining the effect | action of the robot holding part at the time of holding a heavy article with a front view Front view of a robot gripping part showing another embodiment of the penetrating part Front view of a robot gripping part showing another embodiment of the penetrating part Front view of a robot gripping part showing another embodiment of the penetrating part Front view of a robot gripping part showing another embodiment of the penetrating part

  Embodiments of the present invention will be described below.

  The coating material of the present invention can be applied to various types of coating materials that share the subject of the present invention, and among them, it is preferably applied to a robot gripping part that grips an object in an air chuck type or multi-finger type robot hand. Can do.

  FIG. 1 is a front view showing an example of a covering structure of a robot gripper to which a covering material of the present invention is applied in a robot hand, and FIG. 2 is a cross-sectional view taken along line (ii)-(ii) in FIG. .

  In the figure, reference numeral 1 denotes one robot gripping part that grips an object in a robot hand. The robot gripping part 1 includes a base material 11 that functions as a core material, and a covering material 12 that covers the surface of the base material 11. It has.

  The robot gripper 1 exhibits a desired gripping function by a robot drive mechanism (not shown).

  The covering material 12 is integrally formed on the surface of the base material 11 or is formed separately from the base material 11 and is attached to the base material 11 through an adhesive. Here, the latter aspect is shown in which the robot gripping portion 1 is configured by covering the base material 11 with a covering material 12 formed separately from the base material 11.

  The covering material 12 includes an inner layer 121 provided on the surface of the base material 11 and an outer layer 122 provided in contact with the surface of the inner layer 121, and the base material 11 is inserted in a substantially central portion of the inner layer 121. As a result, a deep groove-shaped mounting portion 123 for mounting on the substrate 11 is formed. The outer layer 122 is a layer that directly contacts an object when the robot gripper 1 grips the object.

  The inner layer 121 and the outer layer 122 are both constituted by an elastic body. In the present invention, the elastic body constituting the inner layer 121 has higher adhesiveness than the elastic body constituting the outer layer 122 and the elastic body constituting the outer layer 122. It is constituted by an elastic body having a lower hardness. That is, the elastic body constituting the outer layer 122 generally has a higher crosslink density, lower adhesiveness and higher hardness than the elastic body constituting the inner layer 121.

  In the outer layer 122, a through hole 13 having a round hole shape is formed in a gripping part 1 a that is a part that comes into contact with the object when the object is gripped. The penetration part 13 penetrates the outer layer 122 so as to reach the inner layer 121 from the surface of the outer layer 122. Therefore, when the gripping part 1 a of the robot gripping part 1 is observed from the outside, the inner layer 121 can be confirmed in the penetration part 13. However, the inner layer 121 in the penetrating part 13 is positioned at the boundary between the inner layer 121 and the outer layer 122 and does not penetrate into the penetrating part 13 in a normal state in which no object is gripped.

  The plurality of through portions 13 shown here are formed so as to be arranged vertically and horizontally, but the number of the through portions 13 is not particularly limited, and one or more may be formed in the outer layer 122. Further, the arrangement configuration of the through portions 13 is not particularly limited.

  Next, the operation when the object to be grasped is grasped by the robot grasping portion 1 having the covering material 12 configured as described above will be described with reference to FIGS.

  First, as shown in FIG. 3, when the object to be grasped is a relatively light object X1, when the object X1 is grasped with a predetermined grasping force, the object X1 is a surface of the grasping portion 1a of the covering material 12. When the gripping stress F1 acts on the surface of the gripping part 1a by contacting the (outer layer 122), the inner layer 121 and the outer layer 122 of the covering material 12 are elastically deformed together according to the magnitude of the gripping stress F1. The gripping stress F <b> 1 at this time is a relatively small force that can grip a lightweight object, and stress is applied to the inner layer 121 and the outer layer 122 so as to be sandwiched between the object X <b> 1 and the base material 11.

  Here, the outer layer 122 is harder than the inner layer 121, whereas the inner layer 121 is lower in hardness than the outer layer 122, so that the inner layer 121 is elastically deformed so as to be crushed according to the magnitude of the acting gripping stress F <b> 1. Then, the inner layer 121 moves so that a part 121 a of the inner layer 121 enters the through portion 13.

  However, since the gripping stress F1 acting at this time is relatively small, the stress acting on the inner layer 121 and the outer layer 122 is small, and the amount by which the part 121a of the inner layer 121 moves into the through-hole 13 due to the stress is also small. Become. Therefore, even if a part 121a of the inner layer 121 enters the inside of the penetration part 13, as shown in FIG. 4 and FIG. 5, it is only in the middle of the penetration part 13 and so far as to protrude to the surface of the outer layer 122. Absent.

  For this reason, when the object X1, which is a lightweight object, is gripped, only the surface of the outer layer 122, which has lower adhesiveness than the inner layer 121, is in contact with the object X1, and the surface of the covering material 12 strongly adheres to the object X1. The object X1 can be gripped in an appropriate gripping state. 4 and 5, the object X1 is not shown.

  On the other hand, as shown in FIG. 6, when the object to be grasped is a relatively heavy object X2, when the object X2 is grasped with a predetermined grasping force, the object X2 becomes the grasping portion 1a of the covering material 12. When gripping stress F2 acts on the surface of the gripping part 1a by contacting the surface (outer layer 122), the inner layer 121 and the outer layer 122 of the covering material 12 are elastically deformed together according to the magnitude of the gripping stress F2. The gripping stress F <b> 2 at this time is a relatively large force sufficient to grip a heavy object, and the stress is applied to the inner layer 121 and the outer layer 122 so as to be sandwiched between the object X <b> 2 and the base material 11. .

  At this time, a larger stress acts on the inner layer 121 and the outer layer 122 than when the object X1 is gripped, and the inner layer 121 is elastically deformed so as to be crushed according to the magnitude of the stress. Thereby, a part 121a of the inner layer 121 moves so as to penetrate more into the penetration part 13 than when the object X1 is gripped.

  Since the gripping stress F2 at this time is larger than the gripping stress F1 when gripping the object X1, the part 121a of the inner layer 121 that has moved so as to penetrate into the penetrating portion 13 has the magnitude of the gripping stress F2. Accordingly, as shown in FIG. 7 and FIG. 8, it reaches the surface of the outer layer 122 from the penetrating portion 13, and further attempts to protrude greatly from the penetrating portion 13. Then, a part 121a of the inner layer 121 that reaches the surface of the penetrating portion 13 or protrudes from the penetrating portion 13 comes into contact with the object X2.

  For this reason, when gripping the heavy object X2, not only the surface of the outer layer 122 but also the part 121a of the inner layer 121 having higher adhesiveness than the outer layer 122 through the through-hole 13 provided in the outer layer 122. Direct contact can be made to X2. Therefore, the object X2 can be gripped in an appropriate gripping state without sliding the gripped object X2. Note that the object X2 is not shown in FIGS.

  As described above, according to the covering material 12 according to the present invention and the covering structure of the robot gripping portion 1 including the covering material 12, appropriate gripping for gripping the object according to various objects to be gripped is possible. Performance can be demonstrated.

  In FIG. 7, for convenience of explanation, the part 121a of the inner layer 121 is illustrated so as to largely protrude from the through portion 13, but the part 121a of the inner layer 121 contacts the object X2 when the actual object X2 is gripped. Thus, the protrusion of the object X2 is prevented, and a strong adhesive force is applied to the object X2 according to the weight of the object X2 (the magnitude of the gripping stress F2), or the surface of the object X2 and the outer layer 121 It can be easily understood that the surface adhesiveness, the coefficient of friction, and the contact area with the part 121a of the inner layer 121 are changed.

  In the present invention, the elastic body constituting the inner layer 121 of the covering material 12 has such a softness that it can penetrate into the penetrating portion 13 of the outer layer 122 when a heavy object requiring adhesive force is gripped. Need to be. The specific hardness of the elastic body constituting the inner layer 121 is determined by conditions such as an assumed weight of an object to be grasped and a magnitude of gripping stress exerted upon gripping the object. In terms of being able to be solved, the Shore A hardness is preferably 0 to 40 degrees, and the Shore A hardness is preferably 0 to 20 degrees.

  In addition, the elastic body used for the outer layer 122 of the covering material 12 can appropriately grip an object that is a lightweight object and can efficiently transmit the stress when the object is gripped to the inner layer 121. Also, it is preferable that the Shore A hardness is 40 to 90 degrees under conditions of high hardness.

  The hardness of each layer can be adjusted by changing the resin material or changing the mixing ratio of the main agent and the curing agent.

  As an elastic material constituting the inner layer 121 and the outer layer 122, a soft rubber or a resin material such as rubber, silicon, urethane, or gel is generally used. The weight and shape of an object to be grasped are assumed. It can be selected as appropriate according to the nature and the like. For example, silicon gel or urethane gel can be used for the elastic body constituting the inner layer 121. Further, silicon rubber or urethane rubber can be used for the elastic body constituting the outer layer 122.

  The inner layer 121 and the outer layer 122 may be made of the same material or different materials as long as they have different adhesiveness and hardness. However, since high adhesiveness can be imparted between the layers, the inner layer 121 and the outer layer 122 are preferably made of the same material.

  Regarding the thickness of each layer of the covering material 12, the thickness of the outer layer 122 is set to be sufficiently smaller than the thickness of the inner layer 121, and the elasticity of the inner layer 121 is easily affected by the object. It is preferable because part 121a of 121 can penetrate or part 121a of inner layer 121 can be easily protruded from penetrating part 13.

  The thickness of the outer layer 122 is more preferably set to ¼ or less the thickness of the inner layer 121. This is because the elastic body of the inner layer 121 having relatively low hardness and high flexibility is thicker than the elastic body of the outer layer 122, so that the elasticity of the inner layer 121 can be more easily influenced on the object.

  The thickness of the entire covering material 12 is generally 2 to 20 mm, preferably 4 to 10 mm. The thickness of each of the layers 121 and 122 is appropriately set within this range, but the thickness of the outer layer 122 is set in the range of 0.2 to 2.0 mm, preferably 0.3 to 1.0 mm. The thickness of the inner layer 121 is set in the range of 0.5 to 50.0 mm, preferably 2.0 to 20.0 mm.

  The size of the penetrating portion 13 provided in the outer layer 122 can be appropriately selected according to the weight, shape, property, etc. of the object to be grasped, and is not particularly limited. For example, the thickness may be 1 mm to 5 mm.

  In addition, although the penetration part 13 demonstrated above was made into the round hole shape, the opening shape of the penetration part 13 is not ask | required in particular, As shown in FIG. Moreover, although not shown in figure, it can also be set as a triangular shape and another polygonal shape.

  Moreover, the penetration part 13 can also be formed in slit shape, as shown in FIG. When forming into a slit shape, as shown in FIG. 11, it can also form in a waveform. The number and arrangement of the slits are not particularly limited.

  Furthermore, the penetration part 13 can also be formed concentrically as shown in FIG. The concentric penetrating portion 13 may be formed not only in a circular shape but also in an elliptical shape, a triangular shape, a quadrangular shape, or other polygonal shapes.

  In the present invention, an antibacterial agent may be blended in the inner layer 121 of the covering material 12 or both the inner layer 121 and the outer layer 122.

  Antibacterial agents can be killed from the suppression of the generation and growth of microorganisms by sterilization, disinfection, disinfection, sterilization, bacteriostatic, bacteriostatic, antiseptic, antifungal, antibacterial, etc. This refers to those that exert a wide range of microbial control functions.

  The antibacterial agent imparting antibacterial properties may be any of inorganic, organic, and natural types.

  For example, as an inorganic antibacterial agent, silver, copper, zinc, or the like is used as a metal that is not harmful to human bodies or animals and has a bactericidal function or a growth suppressing function against microorganisms.

  Among the inorganic antibacterial agents, silver is preferably used as the antibacterial metal from the viewpoint of safety and functionality. These silver antibacterial agents can also be used as a simple substance, but zeolite (crystalline aluminosilicate) Acid salt), silica gel, clay minerals and other silicate carriers, phosphate carriers such as zirconium phosphate and calcium phosphate, soluble glass, activated carbon and the like. These carriers may be granular or powder.

  As a method for supporting an antibacterial metal on a carrier, for example, a part of ions capable of exchanging ions in a zeolite by immersing zeolite in an aqueous solution of an antibacterial metal ion at a predetermined pH and for a predetermined time. There is a method in which the whole is replaced with antibacterial metal ions, washed with water after completion of ion exchange, and dried by heating.

  The method of blending the metal antibacterial agent into the inner layer 121 and the outer layer 122 is not particularly limited, but for example, a kneading method can be preferably exemplified.

The antibacterial activity of silver-based antibacterial agents is thought to be due to surface oxidation and metal ions dissolved in the solution. Regarding the antibacterial mechanism, (1) silver ions (Ag ⁺ ) are taken into bacteria and cells It is considered that the oxygen in the air or oxygen dissolved in water is changed to active oxygen by the catalytic action of ions, or the active oxygen produced exhibits antibacterial properties.

  Examples of organic antibacterial agents include benzimidazole organic antibacterial agents. Natural antibacterial agents include wasabi, ginger, plants such as bamboo leaves and cypress leaves, and plant extracts such as hinokitiol and hiba oil.

  The blending amount of the antibacterial agent can be appropriately changed depending on the purpose of use of the covering material. However, when blending into the inner layer 121 and diffusing and moving to the outer layer 122, the inner layer 121 can be formed as far as possible in the layer formation. It is preferable to add a large amount.

  Further, in order to delay the diffusion movement from the inner layer 121 to the outer layer 122, an antibacterial agent can be added to the outer layer 122 in advance in addition to the inner layer 121.

  Since materials such as rubber and gel have a softer elastic body and a lower crosslink density, the covering material 12 has a high degree of freedom of movement of the antibacterial agent component (the rate of decrease in concentration increases), but from the inner layer 121 to the outer layer 122. Even if the antibacterial component diffuses toward the surface, the outer layer 122 that does not easily diffuse the antibacterial component is configured on the gripping side, so that the antibacterial component blended in the inner layer 121 is held on the gripping side (gripping object). Diffusion can be reduced. Cleanness can be maintained for a long period of time by forming these two layers having different crosslink densities.

  The covering material 12 may further contain any appropriate additive depending on the purpose.

  Examples of the additive include a photopolymerization initiator, a silane coupling agent, a release agent, a curing agent, a curing accelerator, a diluent, an anti-aging agent, a denaturing agent, a surfactant, a dye, a pigment, and a discoloration preventing agent. UV absorbers, softeners, stabilizers, plasticizers, antifoaming agents and the like.

  As a method for producing the covering material 12, a known method for producing a gel sheet can be adopted as appropriate. For example, cast molding, injection molding, compression molding, centrifugal molding, or the like can be adopted. The molding temperature is generally room temperature to 100 ° C.

  The inner layer 121 and the outer layer 122 may be laminated after being manufactured in separate processes, or may be laminated by, for example, applying a material to be the outer layer 122 on one surface of the inner layer 121. In the case of integral molding, either the inner layer 121 or the outer layer 122 may be first, or both may be molded simultaneously. The adhesion between the layers is made by the adhesion between the materials.

  In addition, although the covering material 12 demonstrated above illustrated the thing of the 2 layer structure which consists only of the inner layer 121 and the outer layer 122, the covering material 12 in this invention is the inner side from the inner layer 121, ie, the inner layer 121, the base material 11, and It does not prevent any other one or more layers from being provided.

  Moreover, as shown in the figure, the robot gripper 1 according to the present invention is not limited to a finger shape, and the outer shape can be arbitrarily set according to the purpose.

  Examples of the present invention will be described below, but the present invention is not limited to the examples.

Example 1
The outer shape of the robot gripping part was a finger shape as shown in FIGS. 1 and 2, and the outer dimensions were 20 mm wide × 30 mm high × 15 mm thick. And the casting mold of the inner layer of the coating | covering material of the dimension which subtracted 0.5 mm from this external dimension was produced. In this casting mold, a cavity having an inner diameter of 7 mm and a length of 20 mm was arranged in the center of the bottom surface to form a mounting portion for inserting a base material that is a core material of the robot gripping portion.

  The casting mold for the outer layer of the covering material was produced with the same dimensions as the outer dimensions of the robot gripping part. A circular projection having a diameter of 2 mm and a height of 0.5 mm is formed on the surface corresponding to the gripping portion inside the casting mold of the outer layer, and the vertical and horizontal intervals are set to 1.8 mm. Thirteen were formed. When the inner layer material is set, this convex portion is a portion that is just in contact with the inner layer material and the outer layer material does not flow, but becomes a space, that is, a penetrating portion that penetrates the outer layer.

  Then, a urethane gel material having a Shore A hardness of 0 degree was injected into the casting mold of the inner layer and solidified to form the inner layer of the covering material.

  Next, the inner layer is taken out from the casting mold and set in the outer casting mold. A urethane gel material having a Shore A hardness of 50 degrees is injected into the casting mold of the outer layer and solidified, and the outer layer is laminated outside the inner layer. I let you.

  After molding, this was taken out to obtain a coating material having a two-layer structure of an inner layer and an outer layer on the surface of the substrate. The obtained coating | covering material had 13 penetration parts in the site | part used as the holding part of an outer layer.

  A base material serving as a core material was inserted into the covering material and adhered with an adhesive to constitute a robot gripping portion. Two similar robot grips were prepared.

  When these two robot grips were mounted on a robot hand and 0.7 g of M3 bolts were picked as a lightweight object with a predetermined gripping force, they could be picked up without problems. At this time, since a part of the inner layer did not protrude from the penetrating portion, the adhesiveness of the inner layer did not act on the bolt, and the bolt did not stick to the gripping part when the bolt was released, and it was easy I was able to release.

  On the other hand, when a 5 kg oil can as a heavy object was picked and lifted with a predetermined gripping force corresponding to the weight, deformation of the outer layer of the gripping part was confirmed, and it was possible to lift without slipping.

  Further, although the oil can was easily removed, it was confirmed that the gripping part adhered to the oil can was removed while being peeled off. That is, when the gripping part was deformed when picking up and lifting the oil can, a part of the inner layer having higher adhesiveness than the outer layer protruded through the penetrating part and was in direct contact with the oil can and sticking to the oil can Was showing.

  As described above, the same robot gripping part can appropriately lift both the light bolt and the heavy oil can without changing the covering material or adding a jig.

(Comparative Example 1)
When forming the casting mold of the outer layer of the covering material, two robot gripping portions having no through portions in the covering material were produced in the same manner as in Example 1 except that no projection was provided. Was mounted on a robot hand, and the same bolt and oil can as in Example 1 were picked and lifted with the same predetermined gripping force as in Example 1.

  As a result, the bolt could be picked up without any problem, and when the bolt was released, the bolt did not stick to the gripping part and could be easily removed.

  However, when the oil can was lifted, the oil can slipped between the pair of robot gripping portions, the gripping state of the oil can became unstable, and it dropped out during the lifting operation.

(Comparative Example 2)
A casting mold of the covering material was produced with the same dimensions as the outer shape of the robot gripping part same as in Example 1. In this casting mold, a cavity having an inner diameter of 7 mm and a length of 20 mm was arranged at the center of the bottom surface to form a mounting part for inserting a base material that is a core material of the robot gripping part.

  Then, a urethane gel material having a Shore A hardness of 10 degrees was poured into this casting mold and solidified to form a coating material consisting of only one layer.

  After molding, this was taken out, a base material serving as a core material was inserted into this covering material to constitute a robot gripping portion, and two robot gripping portions were similarly produced.

  The robot gripping part was attached to a robot hand, and the same bolt and oil can as in Example 1 were picked and lifted with the same predetermined gripping force as in Example 1.

  As a result, both bolts and oil cans could be picked up without problems. However, when the bolt is released, the bolt sticks to the surface of the gripping part, and it is not easily peeled off from the robot gripping part and has to be peeled off manually.

1: Robot gripping part 1a: gripping part 11: base material 12: coating material 121: inner layer 121a: part of inner layer 122: outer layer 123: mounting part 13: penetrating part X1: light object X2: weight part Object F1, F2: gripping stress

Claims (6)

A covering material provided on the surface of a substrate having a function of gripping an object,
An inner layer made of an elastic body, and an outer layer made of an elastic body that comes into contact with the object when the object is held on the surface of the inner layer;
The inner layer is composed of an elastic body having higher adhesiveness than the outer layer and having a lower hardness than the outer layer,
The outer layer has one or more penetrating portions penetrating so as to reach the inner layer, and when a stress acting on the object is applied, a part of the inner layer is selected according to the magnitude of the stress. Is configured to penetrate into or protrude from the through portion.   The coating material according to claim 1, wherein the hardness of the elastic body of the inner layer is Shore A hardness 0 to 40 degrees, and the height of the elastic body of the outer layer is Shore A hardness 40 to 90 degrees.   The covering material according to claim 1 or 2, wherein the elastic body used for the inner layer is silicon gel or urethane gel, and the elastic body used for the outer layer is silicon rubber or urethane rubber. An inner layer made of an elastic body on the surface of the robot gripping part having a function of gripping an object, and an outer layer made of an elastic body that comes into contact with the object when the object is gripped on the surface of the inner layer;
The inner layer is composed of an elastic body having higher adhesiveness than the outer layer and having a lower hardness than the outer layer,
The outer layer has one or more penetrating portions penetrating so as to reach the inner layer, and when a stress acting on the object is applied, a part of the inner layer is selected according to the magnitude of the stress. A structure for covering the robot gripping part, wherein the covering part is configured to enter or protrude from the penetrating part.   5. The robot gripping unit according to claim 4, wherein a hardness of the elastic body of the inner layer is Shore A hardness of 0 to 40 degrees, and a height of the elastic body of the outer layer is Shore A hardness of 40 to 90 degrees. Coating structure. 6. The robot gripping portion covering structure according to claim 4, wherein the elastic body used for the inner layer is silicon gel or urethane gel, and the elastic body used for the outer layer is silicon rubber or urethane rubber.

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