JP6353152B2 - Gripping device and industrial robot - Google Patents

Description

  The present invention relates to a gripping device and an industrial robot.

  As a gripping device for gripping a workpiece, a suction hand or a two-finger gripper (for example, Patent Document 1) is mainly used. May not be able to be gripped. For this reason, in a work site where there are many types of workpieces to be gripped, such as high-mix low-volume production, replacement work by a tool changer or a person is required, resulting in a reduction in production efficiency. Furthermore, there is a problem that a flexible and irregular workpiece such as food cannot be gripped without being damaged.

  On the other hand, a five-finger type gripping device having a mechanism close to the shape of a human hand has been studied (for example, Patent Document 2). However, since a five-finger gripping device realizes a complicated operation close to that of a human hand, the operation and control mechanism are very complicated, and these complexities make it difficult to introduce.

  Furthermore, a gripping device that has a sealed rubber-like bag and powder particles filled in the rubber bag and uses the Jamming transition of the powder particles has been developed (for example, Patent Document 3). Since this gripping device can grip the rubber bag in a state of following the workpiece, it can handle various workpieces with simple control.

JP 2009-125851 A JP 2012-192896 A Special table 2013-523478 gazette

  However, since the gripping device according to Patent Document 3 needs to be pressed against the workpiece with a strong force in order to develop a gripping force, there is a problem that a flexible workpiece such as food is damaged. Moreover, since the followability with respect to the workpiece | work of a rubber bag falls remarkably when the force pressed against a workpiece | work is weak, the holding | grip apparatus will restrict | limit the workpiece | work which can be hold | gripped.

  An object of this invention is to provide the holding | grip apparatus and industrial robot which can hold | grip a workpiece | work more reliably.

  A gripping device according to the present invention is provided with a palm part, a peripheral part formed on a peripheral part of the palm part, and protruding from the peripheral part, and the palm part is deformed in the thickness direction to deform the palm part. A bag-shaped gripping main body having a plurality of fingers that tilt down, and a filler provided in the gripping main body, the gripping main body being curved from the palm to the peripheral edge It is characterized by that.

  The industrial robot according to the present invention is characterized in that the gripping device is provided.

  According to the present invention, since the gripping device can open the finger portion by pressurizing the inside of the gripping main body, the workpiece can be gripped more reliably.

It is a schematic diagram which shows the example of the industrial robot to which the holding | grip apparatus which concerns on 1st Embodiment is applied. It is a perspective view showing composition of a grasping device concerning a 1st embodiment. It is a perspective view which shows the use condition (1) of the holding | gripping apparatus which concerns on 1st Embodiment. It is a perspective view which shows the use condition (2) of the holding | gripping apparatus which concerns on 1st Embodiment. It is a partial vertical end view which shows the structure of the holding | gripping apparatus which concerns on 1st Embodiment. It is a fragmentary longitudinal end view which shows the use condition (1) of the holding | gripping apparatus which concerns on 1st Embodiment. It is a fragmentary vertical end view which shows the use condition (2) of the holding | gripping apparatus which concerns on 1st Embodiment. It is a fragmentary longitudinal end view which shows the structure of the holding | gripping apparatus which concerns on 2nd Embodiment. It is a perspective view which shows the structure of a shape holding part. It is a fragmentary vertical end view which shows the use condition (1) of the holding | gripping apparatus which concerns on 2nd Embodiment. It is a fragmentary vertical end view which shows the use condition (2) of the holding | gripping apparatus which concerns on 2nd Embodiment. FIGS. 12A and 12B are perspective views showing a modification example (1) of the gripping device according to the present embodiment, in which FIG. 12A shows a case where the finger part is small, FIG. 12B shows a case where the finger part is medium, and FIG. This is the case when the length of the part is large. 13A and 13B are perspective views showing a modification (2) of the gripping device according to the present embodiment, in which FIG. 13A shows a case where the length of the finger portion is small, FIG. 13B shows a case where the length of the finger portion is medium, and FIG. This is the case when the length of the part is large. FIG. 14A is a perspective view showing a modified example (3) of the gripping device according to the present embodiment, in which FIG. 14A shows a case where the length of the finger portion is small, FIG. 14B shows a case where the length of the finger portion is medium, and FIG. This is the case when the length of the part is large.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

1. First embodiment (overall configuration)
FIG. 1 shows a configuration of an industrial robot 12 to which the gripping device 10A according to the first embodiment is applied. The industrial robot 12 is an orthogonal robot, and includes a rail 14, a moving body 16 that moves along the rail 14, and an air cylinder 18 that is fixed to the moving body 16. The rail 14 is provided so as to be movable in the Y-axis direction in the drawing.

  The air cylinder 18 has a cylinder tube 19 and a piston rod 20 provided so as to be able to advance and retreat relative to the cylinder tube 19. The cylinder tube 19 is provided with pipes 21 and 22. By supplying and exhausting gas through the pipes 21 and 22, the piston rod 20 can advance and retract with respect to the cylinder tube 19. A gripping device 10 </ b> A is provided at the tip of the piston rod 20.

  The industrial robot 12 can grip the workpiece W placed on the horizontal base 26 with the gripping device 10A and move in the X-axis, Y-axis, and Z-axis directions.

  The gripping device 10 </ b> A includes a case 36 connected to the piston rod 20 and a gripping main body 28 </ b> A fixed to the case 36. A pipe 24 is connected to the case 36. The grip body 28A can be formed of a material having airtightness and elasticity, for example, natural rubber or synthetic rubber. The hardness measured according to the JIS K6253 durometer hardness test (type A) of the gripping body 28A is preferably about 60 to 90.

  As shown in FIG. 2, the gripping main body 28A includes a palm portion 30A, a peripheral edge portion 29A formed on the peripheral edge of the palm portion 30A, and a plurality of finger portions 32A formed on the peripheral edge portion 29A. The grip body 28A is gently curved from the palm portion 30A toward the peripheral portion 29A. In the case of this figure, palm part 30A and peripheral part 29A are integrally formed by a part of spherical surface. The palm part 30A and the peripheral part 29A are convex toward the tip of the finger part 32A. The spherical surfaces forming the palm portion 30A and the peripheral edge portion 29A do not have to be a single unit, and a plurality of spherical surfaces may be combined. The palm portion 30A is preferably closer to a flat cross-sectional shape because the amount of deformation in the peripheral direction of the palm portion 30A is larger.

  The finger portions 32A are formed integrally with the peripheral portion 29A, and five finger portions 32A are provided radially so as to surround the palm portion 30A. A predetermined interval is formed between the finger portions 32A. The finger portion 32A has an inner surface 31 formed integrally with the palm portion 30A. The outer shape of the finger 32A can be selected as appropriate, and may be, for example, a cylinder, a cone, a truncated cone, a triangular prism, a quadrangular prism, a triangular pyramid, a quadrangular pyramid, a quadrangular pyramid, or the like. In the present embodiment, the plurality of finger portions 32A are configured in the same shape. The plurality of finger portions 32A need not all have the same shape, and may have different shapes. The finger portion 32A has a quadrangular pyramid shape, and the inner surface 31 is formed so as to be inclined outward from the proximal end joined to the palm portion 30A toward the distal end. The gripping main body 28A has a tip opening 35 at the tip portion of the finger portion 32A because the tips of the plurality of finger portions 32A are separated from each other by a predetermined distance.

  The gripping main body 28A is elastically deformed so that the palm 30A is pulled in the peripheral direction by pressurizing the inside thereof, and the finger 32A provided on the peripheral 29A opens toward the outside of the palm 30A (FIG. 3). .

  When a force that deforms the palm portion 30A in the thickness direction (the arrow direction in FIG. 2) is applied to the gripping main body 28A, the inner surface 31 is pulled by the force, and the finger portion 32A falls down toward the palm portion 30A. Deforms (FIG. 4).

  As shown in FIG. 5, the gripping main body 28 </ b> A is made of a bag-like member having an opening on the surface opposite to the surface on which the palm portion 30 </ b> A and the finger portion 32 </ b> A are formed, and a granular material as a filler inside 34A is accommodated. The gripping main body 28A is fixed to the case 36 at a flange portion 33 formed integrally with the periphery of the opening, and the opening is sealed by the case 36.

  The case 36 is provided with a through hole 37. One end of the pipe 24 is inserted into the through hole 37 and communicates with the grip body 28A. Although not shown, the other end of the pipe 24 is connected to a pressurization pump and a three-way valve through, for example, a direction switching valve. The three-way valve has a vacuum port, a supply / exhaust port, and an atmosphere release port, and the vacuum port is connected to the vacuum pump, the supply / exhaust port is connected to the gripping device 10A, and the atmosphere release port is connected to the outside. Through the pipe 24, gas can flow from the inside of the gripping body 28A to the outside and from the outside of the gripping body 28A.

  The powder particles 34A can be selected as appropriate, and can be formed of, for example, an aggregate of alumina, activated carbon, polystyrene foam, glass beads, dried beans, wood chips, and the like. The filling rate of the powder particles 34A is preferably about 20 to 80%, more preferably 40 to 60% of the gripping main body 28A. The filling rate is expressed as A / B × 100 (%), where A is the weight of the granular material filled in the gripping main body 28A, and B is the weight of the granular material when the gripping main body 28A is closely packed. Is done.

(Operation and effect)
The operation and effect of the industrial robot 12 provided with the gripping device 10A configured as described above will be described. The industrial robot 12 has the origin when the piston rod 20 is retracted into the cylinder tube 19 and the air cylinder 18 is contracted. In the gripping device 10A, the pressure in the gripping main body 28A is atmospheric pressure in the initial state. That is, the direction switching valve is in a state where the pipe 24 and the three-way valve are connected. The three-way valve is in a state where the vacuum port is shut off and the supply / exhaust port is connected to the air release port.

  The industrial robot 12 positions the gripping device 10A on the vertical line of the workpiece W placed on the base 26 as the moving body 16 moves along the rail 14 (FIG. 1).

  Next, the direction switching valve is switched to a state where the pipe 24 and the pressure pump are connected. Thus, the gripping device 10A sends compressed gas into the gripping main body 28A through the pipe 24, and pressurizes the gripping main body 28A to about 0.05 MPa, for example. Since the grip body 28A is gently curved from the palm portion 30A toward the peripheral portion 29A, the grip body 28A expands as a whole and the palm portion 30A is pulled in the peripheral direction. Then, the finger portion 32A provided on the peripheral portion 29A is elastically deformed so as to open toward the outside of the palm portion 30A. In this way, the gripping device 10A opens the finger portion 32A in accordance with the size of the workpiece W (FIG. 6).

  Subsequently, the industrial robot 12 extends the air cylinder 18 until the piston rod 20 advances from the cylinder tube 19 and immediately before the palm 30A comes into contact with the workpiece W.

  Next, the direction switching valve is switched to a state where the pipe 24 and the three-way valve are connected. The three-way valve is switched to a state in which the vacuum port is shut off and the supply / exhaust port is connected to the atmosphere release port. Then, the gas flows out from the grip body 28A through the pipe 24 and the atmosphere release port. As a result, as the internal pressure of the gripping main body 28A returns to the atmospheric pressure, the inner surface 31 mainly contacts the surface of the workpiece W while the finger portion 32A returns to the original state. In this way, the gripping device 10A can grip the workpiece W with a small gripping force (FIG. 7).

  Next, the industrial robot 12 can lift the workpiece W from the base 26 by retracting the piston rod 20 into the cylinder tube 19 and contracting the air cylinder 18. Further, the industrial robot 12 can move the workpiece W in the horizontal direction by moving the moving body 16 along the rail 14.

  After moving to the desired location, the industrial robot 12 extends the air cylinder 18 until the workpiece W contacts the base 26 by the piston rod 20 moving out of the cylinder tube 19.

  Next, the direction switching valve is switched to a state where the pipe 24 and the pressure pump are connected. Thus, the gripping device 10A sends compressed gas into the gripping main body 28A through the pipe 24, pressurizes the gripping main body 28A, and opens the finger portion 32A. In this way, the gripping device 10A releases the workpiece W.

  Next, the industrial robot 12 retracts the gripping device 10 </ b> A from the workpiece W by retracting the piston rod 20 into the cylinder tube 19 and contracting the air cylinder 18. As described above, the industrial robot 12 can move to a desired position by gripping the workpiece W placed on the base 26 with the gripping device 10A.

  In the case of the present embodiment, the gripping device 10A can open the finger portion 32A and widen the tip opening 35 by pressurizing the inside of the gripping main body 28A, so that a larger workpiece W can be gripped more reliably. When the workpiece W is larger than the tip opening 35 before spreading the finger portion 32A, the gripping device 10A closes the opened finger portion 32A by releasing the inside of the gripping main body 28A to the atmosphere, thereby closing the workpiece W with a small gripping force. It can be gripped. Accordingly, the gripping device 10A can grip a soft work W such as food without being crushed, and thus can prevent the work W from being damaged.

  The gripping device 10A can also grip the workpiece by bringing the finger portion 32A into contact with the inner peripheral surface of a hollow workpiece (not shown) such as a cylinder. In this case, the finger part 32A is inserted into the hollow part of the workpiece. If necessary, the inside of the gripping main body 28A may be decompressed, and the finger part 32A may be elastically deformed so as to fall toward the palm part 30A. Next, by pressurizing the inside of the gripping main body 28A and opening the finger portion 32A, the outer surface of the finger portion 32A comes into contact with the hollow portion of the workpiece. In this way, the gripping device 10A can grip the workpiece by bringing the finger portion 32A into contact with the inner peripheral surface of the hollow workpiece. Therefore, the gripping device 10A can grip the workpiece without touching the outer peripheral surface of the workpiece.

  In the case of the above embodiment, the case where the workpiece W is gripped by releasing the finger 32A that has been opened and closing the gripping main body 28A to the atmosphere has been described, but the present invention is not limited thereto. For example, the air release port may be shut off before the pressure inside the gripping main body 28A reaches atmospheric pressure. In this case, the work W can be gripped with a smaller gripping force by stopping the outflow of the gas in the gripping main body 28A before the finger portion 32A returns from the open state to the original state.

  Alternatively, the inside of the gripping main body 28A may be decompressed to grip the workpiece W with a larger gripping force. In this case, until the palm portion 30A comes into contact with the workpiece W, the air cylinder 18 is extended, and the finger portion 32A is opened according to the size of the workpiece W, and the direction switching valve is connected to the pipe 24 and the three-way valve. Switch to a connected state. The three-way valve is switched to a state where the air release port is shut off and the air supply / exhaust port is connected to the vacuum port. Accordingly, the gripping device 10A sucks the gas in the gripping main body 28A through the pipe 24, and reduces the pressure in the gripping main body 28A to, for example, −0.05 MPa or less. When the pressure inside the gripping main body 28A is reduced, the palm 30A is deformed upward. As the palm portion 30A is deformed upward, the inner surface 31 of the finger portion 32A is pulled upward. Then, the finger part 32A is elastically deformed so as to fall toward the palm part 30A. Thereby, as for finger part 32A, inner surface 31 mainly contacts the side of work W. In this way, the gripping device 10A can grip the workpiece W with a larger gripping force. At the same time, since the pressure inside the gripping main body 28A is reduced, the granular material 34A accommodated in the gripping main body 28A is hardened. Can be held.

2. Second Embodiment A gripping device according to a second embodiment will be described. Components similar to those in the first embodiment are denoted by the same reference numerals, and description thereof is omitted. As shown in FIG. 8, the gripping device 10 </ b> B includes a case 36 and a gripping main body 28 </ b> A fixed to the case 36. The holding body 28A has an elastic part 34B as a filler and a shape holding part 38 inside.

  The elastic portion 34B is filled in the finger portion 32A and has the shape of the finger portion 32A. As long as the shape of the elastic portion 34B is inserted into the finger portion 32A of the gripping main body 28A and can maintain a certain shape, there may be a slight gap between the inner surface of the finger portion 32A. The material of the elastic portion 34B is preferably resin or rubber. The material of the elastic portion 34B is not necessarily uniform, and may be a composite material combining different materials. The elastic portion 34B may include an additive such as a filler. The elastic portion 34B is preferably arranged so that there is no gap between the inner surface of the finger portion 32A. When the elastic portion 34B is filled in most of the grasping main body 28A beyond the palm portion 30A, the palm portion 30A is not deformed in the thickness direction, and the finger portion 32A is hardly elastically deformed toward the center of the palm portion 30A. . Therefore, the elastic portion 34B is preferably disposed in the finger portion 32A. The shape of the base end of the elastic portion 34B is a planar shape.

  The shape holding part 38 is disposed in the internal space of the palm part 30A of the gripping main body 28A. The shape holding portion 38 holds the grip body 28A so that the outer periphery of the palm portion 30A other than the palm portion 30A, that is, the outer periphery of the palm portion 30A does not contract. The material of the shape holding part 38 is sufficient as long as it does not deform under the reduced pressure of the gripping main body 28A. For example, hard resin or metal can be used. The material of the shape holding portion 38 is not necessarily uniform, and may be a composite material in which different materials are combined.

  The shape holding portion 38 shown in this figure is a frame-like member having a guide hole 40 that receives the deformed palm portion 30A and a curved portion 49 outside the tip of the guide hole 40 on the finger portion 32A side in the axial direction. In the case of this embodiment, the shape holding portion 38 is a cylindrical member having a holding surface 48 that holds the outer peripheral surface 39 of the palm portion 30A. The guide hole 40 is preferably at the center of the shape holding portion 38 corresponding to the palm portion 30A and has an inner diameter substantially the same as that of the palm portion 30A. The holding surface 48 is a circumferential surface outside the shape holding portion 38, has a size capable of holding the outer peripheral surface 39 of the palm portion 30A, and is tapered toward the tip as a whole. A curved portion 49 is provided on the holding surface 48 on the finger portion 32A side. The curved portion 49 is convex toward the outside.

  It is preferable that the finger end on the finger side of the shape holding portion 38 where the curved portion 49 and the guide hole 40 intersect with each other is chamfered. The chamfering can be applied by cutting the tip of the shape holding part 38 on the finger side to form a square surface or a round surface. Since the shape holding part 38 is chamfered, it can prevent breakage such as chipping at the tip.

  The shape holding part 38 preferably has a ratio of the outer diameter of the shape holding part 38 to the inner diameter of the guide hole 40 of 1.0: 0.93 to 1.0: 0.5. For example, when the outer diameter of the shape holding portion 38 is 80 mm and the inner diameter of the guide hole 40 is in the range of 60 to 70 mm, the finger portion 32A is more reliably elastically deformed toward the center of the palm portion 30A.

  The position of the distal end on the finger side of the shape holding part 38 is preferably located outside the center position of the base end of the elastic part 34B in the radial direction of the shape holding part 38. Thereby, when the finger part 32A is elastically deformed toward the center of the palm part 30A, the finger part side distal end of the shape holding part 38 and the proximal end of the elastic part 34B come into contact with each other at the above position. As a result, the finger portion 32A easily elastically deforms toward the center of the palm portion 30A with the contact portion as a fulcrum.

  As shown in FIG. 9, the shape holding part 38 has a plurality of ring bodies 44 to 46 arranged in a concentric manner, in the case of this figure. Each of the ring bodies 44 to 46 is movable and removable in the axial direction.

  Since the gripping device 10B configured as described above can open the finger portion 32A by pressurizing the inside of the gripping main body 28A, the same effect as that of the first embodiment can be obtained (FIG. 10).

  The gripping device 10B can grip the workpiece W more reliably without using powder by having the elastic portion 34B having the shape of the finger portion 32A and the shape holding portion 38 in the gripping main body 28A. Since the gripping device 10B does not use powder, even if the gripping main body 28A ruptures, the workpiece W is not contaminated.

  Since the elastic portion 34B has the shape of the finger portion 32A, the elastic portion 34B stays in the finger portion 32A not only when the tip of the finger portion 32A is in a downward state but also in a lateral direction or an upward state. Accordingly, the gripping device 10B can not only lift the workpiece W on the base 26 but also grip the workpiece W suspended on a vertical wall surface or ceiling. Since the elastic portion 34B having the shape of the finger portion 32A has higher rigidity than the powder after the jamming transition, the workpiece W can be gripped more reliably.

  The shape holding part 38 can change the size of the guide hole 40 and the size of the outer shape by appropriately removing the plurality of ring bodies 44 to 46 arranged concentrically. Therefore, the shape holding part 38 can be adjusted by selecting the ring bodies 44 to 46 in accordance with the size of the outer peripheral surface 39 of the gripping main body 28A and the size of the palm part 30A, thereby improving versatility. can do. In the shape holding portion 38, the hole of the ring body 44 arranged on the innermost side is the guide hole 40, and the circumferential surface of the ring body 46 arranged on the outermost side is the holding surface 48.

  In the case of the above embodiment, the case where the workpiece W is gripped by releasing the finger 32A that has been opened and closing the gripping main body 28A to the atmosphere has been described, but the present invention is not limited thereto. That is, until the palm portion 30A comes into contact with the workpiece W, the air cylinder 18 is extended and the direction switching valve is connected to the pipe 24 and the three-way valve with the finger portion 32A opened in accordance with the size of the workpiece W. Switch to the active state. The three-way valve is switched to a state where the air release port is shut off and the air supply / exhaust port is connected to the vacuum port. Accordingly, the gripping device 10B sucks the gas in the gripping main body 28A through the pipe 24, and reduces the pressure in the gripping main body 28A to, for example, −0.03 MPa or less.

  The gripping main body 28A maintains a state in which the shape of the outer peripheral surface 39 of the palm 30A is held by the shape holding unit 38. Then, the palm portion 30A is deformed in the thickness direction so as to be sucked into the guide hole 40 of the shape holding portion 38 (FIG. 11). As the palm portion 30A is deformed in the thickness direction, the inner surface 31 of the finger portion 32A is pulled toward the center of the palm portion 30A. Then, the finger part 32A is elastically deformed so as to fall toward the palm part 30A. Thereby, as for finger part 32A, inner surface 31 mainly contacts the work W surface. In the case of the cubic workpiece W shown in the figure, the finger portion 32A contacts the side surface of the workpiece W. As described above, the gripping device 10B grips the workpiece W by reducing the pressure inside the gripping main body 28A. The gripping device 10B exhibits a gripping force according to the pressure in the gripping main body 28A. That is, the gripping force of the gripping device 10B increases as the pressure in the gripping main body 28A decreases.

  When the workpiece W is released, the direction switching valve is switched to a state where the pipe 24 and the pressure pump are connected. Accordingly, the gripping device 10B sends compressed gas into the gripping main body 28A through the pipe 24, pressurizes the gripping main body 28A, and opens the finger portion 32A. In this way, the gripping device 10B releases the workpiece W.

  The gripping device 10B can grip the workpiece W by reducing the pressure of the grip body 28A and reliably deforming the palm 30A in the thickness direction. The gripping main body 28A can change the deformation amount and gripping force of the finger portion 32A depending on the degree to which the inside is decompressed. Therefore, since the gripping device 10B can change the gripping force in accordance with the size and hardness of the workpiece W, versatility can be improved. Since the palm 30A is sucked into the guide hole 40 and deformed in the thickness direction, the finger 32A is deformed at an acute angle toward the palm 30A. Therefore, the gripping device 10B can grip a smaller workpiece W.

  The grip body 28A and the elastic portion 34B may be integrated. In this case, the gripping main body 28A and the elastic portion 34B may be partially or entirely made of the same material or different materials.

  Although the shape holding | maintenance part 38 demonstrated the case where it had several ring bodies 44-46 arrange | positioned concentrically, this invention is not restricted to this, One ring body may be sufficient. In the case of a single ring body, the ring body preferably has a gas flow path. In the case of one ring body, the shape holding part 38 may be integrated with the gripping main body 28A. The shape holding portion 38 is not limited to a cylindrical member, and may be a polygonal column having a guide hole 40.

  In the gripping device 10B, since the curved portion 49 is formed in the shape holding portion 38, the palm portion 30A is deformed in the thickness direction while being in contact with the curved portion 49, so that the finger portion 32A is continuous and loose. Transforms into Therefore, the gripping device 10B can grip the workpiece W softly. Incidentally, in the gripping device in which the curved portion is not formed in the shape holding portion, the finger portion is deformed so as to buckle.

  The shape holding portion 38 may be a frame-shaped member such as an ellipse, a polygon, or an ellipse in plan view. The outer shape of the shape holding portion 38 can be changed as appropriate, such as an oval, an ellipse, or a polygon, and may be matched to the shape of the gripping body. The guide hole 40 is not limited to a circular shape, and may be a polygonal shape. Although the case where the shape holding portion 38 has the holding surface 48 has been described, the present invention is not limited to this, and the holding surface 48 may be omitted. When the holding surface 48 is omitted, it is preferable to separately use a holding member that holds the outer peripheral surface 39 of the palm 30 </ b> A instead of the holding surface 48.

  In the case of the second embodiment, the case where the shape of the base end of the elastic portion 34B is a planar shape has been described, but the present invention is not limited to this. For example, the shape of the base end of the elastic portion 34 </ b> B can be a curved shape that matches the curvature of the bending portion 49. In this case, it is preferable that the base end of the elastic portion 34B and the curved portion 49 are brought into surface contact. Thereby, since no space is generated between the curved portion 49 and the inner surface of the gripping body 28A between the elastic portion 34B, a partial dent of the gripping body 28A during decompression can be prevented. As a result, the finger portion 32A can be elastically deformed more stably, and the durability of the grip body 28A can be improved.

  In order to prevent a space from being formed between the inner surface of the gripping body 28A between the curved portion 49 and the elastic portion 34B, a shape is maintained having a protrusion protruding toward the finger portion 32A at a position corresponding to the elastic portion 34B. Part (not shown) may be used. When the shape holding part having such a protrusion is assembled in the gripping main body 28A, the tip of the protrusion comes into contact with the elastic part 34B and the side surface is in close contact with the inner surface of the gripping main body 28A. There is no space between them.

3. The present invention is not limited to the above-described embodiment, and can be appropriately changed within the scope of the gist of the present invention.

  In the above embodiment, an example of an orthogonal robot is shown as the industrial robot 12, but the present invention is not limited to this, and can be applied to a SCARA robot, a vertical articulated robot, and the like. That is, the gripping devices 10A and 10B can grip the workpiece W and maintain the gripped state even when the industrial robot rotates about the X axis, the Y axis, and the Z axis.

  The gripping body 28A may be formed of one kind of material, or may be formed by laminating a plurality of films formed of different materials. The grip body 28A may be formed of partially different materials. The thickness of the gripping main body 28A may not be constant, and a thick part or a thin part may be partially provided.

  The gripping devices 10A and 10B may be provided with a claw portion on the finger portion 32A. A plate-shaped member made of synthetic resin, a conical member, or a sac-shaped member can be used for the claw portion.

  The gripping device 10A according to the first embodiment may include a shape holding unit 38 in the gripping main body 28A.

  The case 36 may be provided with a camera that captures the workpiece W, a weigh scale that measures the weight of the gripped workpiece W, a proximity sensor that measures the distance between the workpiece W and the gripping body, and the like.

  In the case of the above embodiment, the case where the gripping body has the finger length shown in FIG. 2 has been described, but the present invention is not limited to this. For example, like the grip bodies 28B, 28C, and 28D shown in FIG. 12, the lengths of the finger portions 32B, 32C, and 32D can be appropriately changed according to the application. Depending on the length of the finger parts 32B, 32C, 32D, the sizes of the palm parts 30B, 30C, 30D can also be changed. The gripping main bodies 28B, 28C, 28D shown in the figure include palm portions 30B, 30C, 30D, peripheral portions 29B, 29C, 29D, and a plurality of finger portions 32B, 32C formed on the peripheral portions 29B, 29C, 29D. 32D. Accordingly, the grip bodies 28B, 28C, and 28D can open the finger portions 32B, 32C, and 32D by pressurizing the inside thereof, so that the same effect as in the first embodiment can be obtained.

  The number of fingers may be four as shown in FIG. 13 as gripping main bodies 50A, 50B, and 50C, or may be three as shown in FIG. 14 as gripping main bodies 56A, 56B, and 56C. Similarly in the case of FIGS. 13 and 14, the gripping main bodies 50A, 50B, 50C, 56A, 56B, and 56C are similar to those in FIG. 12 by pressurizing the inside thereof, so that the finger portions 52A, 52B, 52C, 58A, 58B, Since 58C can be opened, the same effect as 1st Embodiment can be acquired.

10A, 10B Grasping device 12 Industrial robot 28A Grasping body 29A Peripheral part 30A Palm part 32A Finger part 34A Powder body 34B Elastic part 38 Shape holding part 39 Outer peripheral surface 40 Guide hole

Claims (6)

The palm,
A peripheral edge formed on the peripheral edge of the palm;
A bag-shaped gripping body provided with a plurality of fingers that project from the peripheral edge and fall toward the palm by deforming the palm in the thickness direction;
A filler provided in the gripping body,
The gripping device is characterized in that the gripping body is curved from the palm portion toward the peripheral portion. The gripping device according to claim 1, wherein the filler is a granular material. The filler is an elastic part provided in the finger part and having the shape of the finger part,
The gripping apparatus according to claim 1, further comprising: a shape holding portion that prevents contraction of an outer periphery of the palm portion in the gripping main body. The gripping device according to claim 3, wherein the shape holding part has a guide hole for receiving the deformed palm part. The gripping device according to claim 3 or 4, wherein the elastic part is integral with the finger part. An industrial robot comprising the gripping device according to any one of claims 1 to 5.

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