JP6682074B2

JP6682074B2 - Gripping device

Info

Publication number: JP6682074B2
Application number: JP2015221976A
Authority: JP
Inventors: 哲也毛利; 晴久川▲崎▼; 中村　一也; 一也中村; 保幸小林; 森　賢一; 賢一森
Original assignee: Gifu University; Adamant Namiki Precision Jewel Co Ltd
Current assignee: Gifu University; Adamant Namiki Precision Jewel Co Ltd
Priority date: 2015-11-12
Filing date: 2015-11-12
Publication date: 2020-04-15
Anticipated expiration: 2035-11-12
Also published as: WO2017082101A1; JP2017087367A

Description

本発明は、把持対象物を挟むようにして把持する把持装置に関するものである。 The present invention relates to a gripping device that grips a gripping target while sandwiching the gripping target.

従来、この種の発明には、例えば特許文献１に記載されるもののように、複数の指体を備えたロボットハンドがある。このロボットハンドは、各指体を構成する複数のリンクや、隣接するリンク間のギアや減速機、モータ等を備え、前記モータの駆動によって各指体を曲げたり伸ばしたりするようにしている。 Conventionally, this type of invention includes a robot hand including a plurality of fingers, such as the one described in Patent Document 1, for example. This robot hand is provided with a plurality of links constituting each finger, gears between adjacent links, a speed reducer, a motor, and the like, and each finger is bent or extended by driving the motor.

特開２００７−１５２５２８号公報JP, 2007-152528, A

ところで、前記従来技術によれば、複数の指体によって把持対象物を把持した場合、その把持状態を維持するには、前記モータへの電力供給を継続する必要がある。
そこで、従来構造の把持装置に対し、ブレーキ等の係止手段や、無通電位置保持機構などを具備して、無通電状態でも把持力を維持することが考えられる。
しかしながら、このような把持装置では、電力供給を遮断した後は、把持装置自体の弾性により把持対象物を把持しなければならず、十分な把持力を得るためには工夫を要する。 By the way, according to the conventional technique, when the object to be gripped is gripped by a plurality of fingers, it is necessary to continue supplying power to the motor in order to maintain the gripped state.
Therefore, it is conceivable that the gripping device having the conventional structure is provided with a locking means such as a brake or a non-energized position holding mechanism to maintain the gripping force even in the non-energized state.
However, in such a gripping device, after the power supply is cut off, the gripping object itself has to grip the object to be gripped by the elasticity of the gripping device itself, and a device is required to obtain a sufficient gripping force.

このような課題に鑑みて、本発明は、以下の構成を具備するものである。
複数の把持ユニットの間を開閉させて、これら把持ユニット間で把持対象物を把持したり解放したりする把持装置において、前記複数の把持ユニットのうちの少なくとも一つには、駆動源側から入力部に加わる駆動力を出力部に伝達可能であって且つ出力側から前記出力部に力が加わった際には前記出力部をロックする一方向動力伝達機構と、前記入力部に駆動力を付与する駆動源と、前記出力部の駆動力により受け部材を前記開閉の方向へ移動する動作部と、把持対象物に押圧されるように前記動作部における前記受け部材の閉方向側の部分に設けられた弾性体と、が具備され、前記把持ユニットのバックラッシュによる変位量と、予め設定された押圧力が前記弾性体よりも駆動源側に加わった際に生じる前記把持ユニットの弾性変形の量とを加えた変化量よりも大きく前記弾性体が弾性変形するように、前記弾性体の弾性率を設定し、（把持対象物を把持したときの前記弾性体の弾性変形量−振動による前記受け部材の位置変動）／前記弾性体の弾性率＞把持対象物の把持に必要な把持力という条件と、前記把持力×前記弾性体の弾性率＞前記動作部の移動分解能という条件との二つの条件を満たすようにしたことを特徴とする把持装置。
また、本発明の他例としては、以下の構成を具備する。
複数の把持ユニットの間を開閉させて、これら把持ユニット間で把持対象物を把持したり解放したりする把持装置において、前記複数の把持ユニットのうちの少なくとも一つには、駆動源側から入力部に加わる駆動力を出力部に伝達可能であって且つ出力側から前記出力部に力が加わった際には前記出力部をロックする一方向動力伝達機構と、前記入力部に駆動力を付与する駆動源と、前記出力部の駆動力により前記開閉の方向へ移動する動作部と、把持対象物に押圧されるように前記動作部の閉方向側の部分に設けられた弾性体と、が具備され、前記一方向動力伝達機構は、円柱状空間を有する収納室と、前記収納室に同軸状に回転するように収納された前記出力部と、前記出力部に対し同軸状に回転するように係合した前記入力部と、前記収納室の内周面と出力部の外周面との間に設けられた係合子と、前記係合子を周方向の一方側へ付勢する付勢部材とを備え、前記出力部の外周面に、前記一方側へ向かって前記収納室の内周面との間を徐々に狭めるカム面を形成し、前記入力部が前記一方側に対する他方側に回転した際に、前記入力部を前記係合子に当接した後に、同入力部を前記出力部に当接して前記出力部を押動するように構成され、さらに、前記一方向動力伝達機構の出力側には、雄ネジ状部材の回転により該雄ネジ状部材に螺合する雌ネジ状部材を軸方向へ進退させる他の動力伝達機構が設けられ、前記一方向動力伝達機構の前記出力部と前記他の動力伝達機構の前記雄ネジ状部材とを中心軸が平行になるように並設し、前記出力部の回転力を歯車により前記雄ネジ状部材に伝達し、前記雄ネジ状部材の回転に伴う前記雌ネジ状部材の進退により前記動作部を前記開閉の方向へ移動するようにしたことを特徴とする把持装置。
In view of such a problem, the present invention has the following configurations.
In a gripping device that opens and closes between a plurality of gripping units and grips or releases a gripping target between these gripping units, at least one of the plurality of gripping units receives an input from a drive source side. A one-way power transmission mechanism capable of transmitting a driving force applied to the output section to the output section and locking the output section when a force is applied to the output section from the output side, and applying a driving force to the input section A driving source, an operating unit that moves the receiving member in the opening and closing direction by the driving force of the output unit, and a portion of the operating unit on the closing direction side of the receiving member that is pressed by the object to be grasped. an elastic body which is, is provided, the amount of elastic deformation of said gripping units and the displacement amount of the backlash of the gripping unit, occurs when the preset pressure is applied to the drive source side than the elastic body The elastic modulus of the elastic body is set so that the elastic body elastically deforms more than the amount of change by adding (amount of elastic deformation of the elastic body when grasping an object to be grasped-the receiving member due to vibration). Position variation) / elastic modulus of the elastic body> grip force necessary for gripping an object to be gripped, and gripping force × elastic modulus of the elastic body> movement resolution of the operating unit. A gripping device characterized by satisfying the above condition .
Further, as another example of the present invention, the following configuration is provided.
In a gripping device that opens and closes between a plurality of gripping units and grips or releases a gripping target between these gripping units, at least one of the plurality of gripping units receives an input from a drive source side. A one-way power transmission mechanism capable of transmitting a driving force applied to the output section to the output section and locking the output section when a force is applied to the output section from the output side, and applying a driving force to the input section A driving source, an operating unit that moves in the opening and closing direction by the driving force of the output unit, and an elastic body that is provided in a portion on the closing direction side of the operating unit so as to be pressed by an object to be grasped. The one-way power transmission mechanism includes a storage chamber having a cylindrical space, the output unit accommodated in the storage chamber so as to rotate coaxially, and the output unit rotates coaxially with the output unit. The input part engaged with the front The engaging member provided between the inner peripheral surface of the storage chamber and the outer peripheral surface of the output portion, and a biasing member for biasing the engaging member to one side in the circumferential direction, the outer peripheral surface of the output portion. Forming a cam surface that gradually narrows between the inner peripheral surface of the storage chamber toward the one side, and when the input section rotates to the other side with respect to the one side, the input section is provided with the engagement element. Is configured to push the output part by abutting the input part on the output part after the contact with the output part of the one-way power transmission mechanism by the rotation of the male screw member. Another power transmission mechanism for axially advancing and retracting a female screw-shaped member screwed to the male screw-shaped member is provided, and the output portion of the one-way power transmission mechanism and the male screw-shaped member of the other power transmission mechanism are provided. And the members are arranged side by side so that their central axes are parallel to each other, and the rotational force of the output portion is applied to the male connector by a gear. Transmitted to Jo member, the gripping device, characterized in that the operating part by advancing and retracting of the female screw member due to rotation of the male threaded member is to move in the direction of the opening.

本発明は、以上説明したように構成されているので、駆動力が遮断された後であっても把持力を十分に維持することができる。 Since the present invention is configured as described above, it is possible to maintain a sufficient gripping force even after the driving force is cut off.

本発明に係る把持装置の一例を示す構造図である。It is a structural diagram showing an example of a grasping device concerning the present invention. 一方向動力伝達機構及び調速機構等の一例を示す断面図である。It is sectional drawing which shows an example of a one-way power transmission mechanism, a speed control mechanism, etc. 図２における(III)-(III)線に沿う断面図である。It is sectional drawing which follows the (III)-(III) line in FIG. 図２における(IV)-(IV)線に沿う断面図である。It is sectional drawing which follows the (IV)-(IV) line in FIG. 一方向動力伝達機構の動作説明図である。It is operation | movement explanatory drawing of a one-way power transmission mechanism.

本実施の形態の特徴の一つは、複数の把持ユニットの間を開閉させて、これら把持ユニット間で把持対象物を把持したり解放したりする把持装置において、前記複数の把持ユニットのうちの少なくとも一つには、駆動源側から入力部に加わる駆動力を出力部に伝達可能であって且つ出力側から前記出力部に力が加わった際には前記出力部をロックする一方向動力伝達機構と、前記入力部に駆動力を付与する駆動源と、前記出力部の駆動力により前記開閉の方向へ移動する動作部と、把持対象物に押圧されるように前記動作部の閉方向側の部分に設けられた弾性体と、が具備されている。
ここで、前記「複数の把持ユニット」には、これら複数の把持ユニットの全部がそれぞれ動作して、これら把持ユニット間が開閉するようにした態様や、これら複数の把持ユニットのうちの一部の把持ユニットのみが動作するとともに他の把持ユニットが不動に固定され、前記一部の把持ユニットと前記他の把持ユニットとの間が開閉するようにした態様等を含む。
また、前記「一方向動力伝達機構」には、回転運動により一方向へ駆動力を伝達する態様や、直線運動により一方向へ駆動力を伝達する態様、回転運動と直線運動の双方により駆動力を一方向へ伝達する態様等を含む。
前記構成によれば、前記駆動源の駆動力により前記把持ユニットを閉鎖動作させ、複数の把持ユニット間に把持対象物を把持した際、弾性体が把持ユニットの動作部と把持対象部との間に押圧されて弾性変形する。この後、前記駆動源の駆動力が遮断した場合には、一方向動力伝達機構により逆方向の動作が阻止され、前記弾性体の復元力により把持対象物を把持した状態が維持される。 One of the features of the present embodiment is a gripping device that opens and closes between a plurality of gripping units and grips or releases a gripping target object between these gripping units. At least one is a one-way power transmission capable of transmitting a driving force applied from the drive source side to the input part to the output part and locking the output part when a force is applied to the output part from the output side. A mechanism, a driving source that applies a driving force to the input unit, an operating unit that moves in the opening and closing direction by the driving force of the output unit, and a closing direction side of the operating unit that is pressed by an object to be grasped. And an elastic body provided at the portion of.
Here, in the "plurality of gripping units", a mode in which all of the plurality of gripping units operate to open and close between the gripping units and a part of the plurality of gripping units It includes a mode in which only the gripping unit operates and the other gripping unit is fixedly fixed, and the part of the gripping unit and the other gripping unit are opened and closed.
The "one-way power transmission mechanism" includes a mode in which a driving force is transmitted in one direction by a rotary motion, a mode in which a driving force is transmitted in one direction by a linear motion, and a driving force by both a rotary motion and a linear motion. Is included in one direction.
According to the above configuration, when the gripping unit is closed by the driving force of the driving source and the gripping target is gripped between the plurality of gripping units, the elastic body is provided between the operating unit of the gripping unit and the gripping target. It is pressed by and elastically deforms. After that, when the driving force of the driving source is cut off, the one-way power transmission mechanism prevents the operation in the opposite direction, and the restoring force of the elastic body keeps the object to be gripped.

他の特徴として、より効果的に弾性力を得るために、前記弾性体は、前記把持ユニットのバックラッシュによる変位量よりも大きく弾性変形するように形成されている。 As another feature, in order to obtain an elastic force more effectively, the elastic body is elastically deformed by a larger amount than a displacement amount of the grip unit due to backlash.

他の特徴として、より効果的に弾性力を得るために、前記弾性体は、予め設定された押圧力が前記弾性体よりも駆動源側に加わった際に生じる前記把持ユニットの弾性変形の量よりも大きく弾性変形するように形成されている。 As another feature, in order to obtain an elastic force more effectively, the elastic body is an amount of elastic deformation of the grip unit that occurs when a preset pressing force is applied to the drive source side of the elastic body. It is formed so as to be elastically deformed to a greater extent.

他の特徴として、前記一方向動力伝達機構は、円柱状空間を有する収納室と、前記収納室に同軸状に回転するように収納された前記出力部と、前記出力部に対し同軸状に回転するように係合した前記入力部と、前記収納室の内周面と出力部の外周面との間に設けられた係合子と、前記係合子を周方向の一方側へ付勢する付勢部材とを備え、前記出力部の外周面に、前記一方側へ向かって前記収納室の内周面との間を徐々に狭めるカム面を形成し、前記入力部が前記一方側に対する他方側に回転した際に、前記入力部を前記係合子に当接した後に、同入力部を前記出力部に当接して前記出力部を押動するように構成されている（図３及び図５参照）。 As another feature, the one-way power transmission mechanism includes a storage chamber having a columnar space, the output unit housed in the storage chamber so as to rotate coaxially, and the shaft rotating coaxially with the output unit. And the engaging member provided between the inner peripheral surface of the storage chamber and the outer peripheral surface of the output unit, and a biasing force that biases the engaging member to one side in the circumferential direction. A cam surface is provided on the outer peripheral surface of the output portion that gradually narrows between the output portion and the inner peripheral surface of the storage chamber toward the one side, and the input portion is provided on the other side with respect to the one side. Upon rotation, the input portion is brought into contact with the engaging element, and then the input portion is brought into contact with the output portion to push the output portion (see FIGS. 3 and 5). .

＜具体的実施態様＞
次に、上記特徴を有する具体的な実施態様について、図面に基づいて詳細に説明する。
図１は、本発明に係る把持装置の一例を示す構造図である。
この把持装置Ａは、ベース部材１と、該ベース部材１に支持された複数（図示例によれば二つ）の把持ユニット２とを備え、複数の把持ユニット２の間を開閉させて、これら把持ユニット２の間で把持対象物Ｂを把持したり解放したりする。 <Specific embodiment>
Next, specific embodiments having the above features will be described in detail with reference to the drawings.
FIG. 1 is a structural diagram showing an example of a gripping device according to the present invention.
This gripping device A includes a base member 1 and a plurality (two according to the illustrated example) of gripping units 2 supported by the base member 1, and opens and closes between the gripping units 2 to The object to be gripped B is gripped or released between the grip units 2.

ベース部材１は、その一端側と他端側に、それぞれ、後述する把持ユニット２の基端側の部分を有する。
このベース部材１は、例えば、筒状の中空部材や、枠状部材、長尺板状の部材、その他の構造の部材とすることが可能である。 The base member 1 has, on one end side and the other end side thereof, a base end side portion of a gripping unit 2 described later, respectively.
The base member 1 can be, for example, a tubular hollow member, a frame-shaped member, a long plate-shaped member, or a member having another structure.

各把持ユニット２は、該把持ユニット２の先端側で開閉方向へ移動する第１の動作部１０と、第１の動作部１０の閉方向側の部分に設けられた弾性体２０と、第１の動作部１０の基端側を回転可能に支持するとともにベース部材１に対し回動するように支持された第２の動作部３０と、第１の動作部１０を動作させるための駆動源４２を有する第１の駆動源ユニット４０と、第１の駆動ユニット４０の駆動力を第１の動作部１０に伝達する第１の動力伝達機構５０と、第２の動作部３０を動作させるための駆動源６２を有する第２の駆動源ユニット６０と、第２の駆動源ユニット６０の駆動力を第２の動作部３０に伝達する第２の動力伝達機構７０とを具備している。 Each gripping unit 2 has a first operation part 10 that moves in the opening / closing direction at the tip end side of the gripping unit 2, an elastic body 20 provided in a portion of the first operation part 10 on the closing direction side, and a first operation part 10. Second operating unit 30 that rotatably supports the base end side of the operating unit 10 and that is supported so as to rotate with respect to the base member 1, and a drive source 42 for operating the first operating unit 10. For operating the first drive source unit 40 having the first drive unit 40, the first power transmission mechanism 50 transmitting the drive force of the first drive unit 40 to the first operating unit 10, and the second operating unit 30. A second drive source unit 60 having a drive source 62 and a second power transmission mechanism 70 for transmitting the driving force of the second drive source unit 60 to the second operation unit 30 are provided.

第１の動作部１０は、長尺状の一片部１１ａと該一片部１１ａに対し略へ字状に曲がって接続された短尺状の他片部１１ｂとからなる可動アーム１１と、前記一片部１１ａに略平行に設けられたパラレルリンク１２と、これら可動アーム１１及びパラレルリンク１２の先端側に設けられた受け部材１３とを具備している。
可動アーム１１における基端側は、一片部１１ａと他片部１１ｂの交差する部分が、第２の動作部３０の先端側に回転自在に支持され、他片部１１ｂの先端側が、後述する第１の動力伝達機構５０の先端側に回転自在に支持されている。
また、パラレルリンク１２の基端側は、第２の動作部３０の先端側に回転自在に支持されている。 The first operating unit 10 includes a movable arm 11 including a long piece 1 la and a short piece 11b connected to the piece 11a by bending in a substantially V shape, and the one piece. The parallel link 12 is provided substantially parallel to 11a, and the receiving member 13 provided at the tip ends of the movable arm 11 and the parallel link 12.
On the base end side of the movable arm 11, the intersecting portion of the one piece portion 11a and the other piece portion 11b is rotatably supported by the tip end side of the second operating portion 30, and the tip end side of the other piece portion 11b will be described later. It is rotatably supported on the tip side of the first power transmission mechanism 50.
The base end side of the parallel link 12 is rotatably supported by the tip end side of the second operating unit 30.

受け部材１３は、弾性体２０を受ける面を平坦面状に形成するとともに、その逆側の部分が、一片部１１ａの先端部に回転自在に支持され、さらに、パラレルリンク１２の先端部にも回転自在に支持されている。
この受け部材１３、可動アーム１１及びパラレルリンク１２は、いわゆる平行クランク機構を構成しており、可動アーム１１およびパラレルリンク１２を第２の動作部３０に対し回動させて、弾性体２０を移動させた際に、その移動の前後の弾性体２０の受け面が平行になるようにしている。 The receiving member 13 has a flat surface for receiving the elastic body 20, and a portion on the opposite side is rotatably supported by the tip portion of the one-piece portion 11a. It is rotatably supported.
The receiving member 13, the movable arm 11, and the parallel link 12 constitute a so-called parallel crank mechanism, and the movable arm 11 and the parallel link 12 are rotated with respect to the second operating unit 30 to move the elastic body 20. When this is done, the receiving surfaces of the elastic body 20 before and after the movement are made parallel to each other.

また、弾性体２０は、受け部材１３の前記受け面に固定された平坦状の部材である。この弾性体２０は、例えば、ニトリルゴムや、シリコン樹脂、ウレタン樹脂等、適宜な弾性を有し、且つ把持対象物Ｂを滑らせないように適宜な摩擦係数の材料が選定される。
この弾性体２０は、把持ユニット２全体のバックラッシュによる変位量と、予め設定された一定の押圧力が弾性体２０よりも駆動源側に加わった際に生じる把持ユニット２全体の弾性変形の量と、を加えた変化量よりも大きい必要最小限の弾性変形をするように、弾性率が適宜に設定されている。
前記バックラッシュは、可動アーム１１やパラレルリンク１２の前後の接続箇所や、後述する第１の動力伝達機構５０の各接続箇所および歯車間等に生じる極僅かな隙間やがたつき等に起因するものである。
把持ユニット２の前記弾性変形の量とは、把持ユニット２を構成する各部材（前述した可動アーム１１やパラレルリンク１２等を含む）の全体の弾性変形の量である。前記各部材は、主に金属材料であるが、弾性的な撓みを含む若干の弾性変形をする。
また、前記「予め設定された一定の押圧力」とは、弾性体２０を外した状態で左右の受け部材１３間に把持対象物Ｂを把持した場合に、把持対象物Ｂが容易に滑り落ちることのない必要最小限の押圧力であり、予め実験または計算によって求められた一定の押圧力である。この押圧力は、予定される把持対象物Ｂの重量や形状、被把持部位の摩擦係数等に応じて、異なる値になる。 The elastic body 20 is a flat member fixed to the receiving surface of the receiving member 13. For the elastic body 20, for example, a material having appropriate elasticity such as nitrile rubber, silicon resin, urethane resin, etc., and having an appropriate friction coefficient so as not to slip the gripped object B, is selected.
The elastic body 20 has an amount of displacement due to backlash of the entire gripping unit 2 and an amount of elastic deformation of the entire gripping unit 2 that occurs when a preset constant pressing force is applied to the drive source side of the elastic body 20. The elastic modulus is appropriately set so that the necessary minimum elastic deformation larger than the change amount obtained by adding
The backlash is caused by connection points before and after the movable arm 11 and the parallel link 12, connection points of the first power transmission mechanism 50, which will be described later, and minute gaps and rattling between gears. It is a thing.
The amount of elastic deformation of the grip unit 2 is the total amount of elastic deformation of each member (including the movable arm 11 and the parallel link 12 described above) that constitutes the grip unit 2. Each of the above-mentioned members is mainly made of a metal material, but undergoes some elastic deformation including elastic bending.
The "predetermined constant pressing force" means that the gripping target B easily slips down when the gripping target B is gripped between the left and right receiving members 13 with the elastic body 20 removed. It is a necessary minimum pressing force without a constant pressure and is a constant pressing force obtained in advance by experiments or calculations. This pressing force has different values depending on the expected weight and shape of the gripping target B, the friction coefficient of the gripped portion, and the like.

仮に第１の動作部１０（例えば、ロボットの指）の移動分解能を０．１ｍｍとし、弾性体２０を省いた把持ユニット２を用いて、把持対象物Ｂを１０Ｎの把持力で把持した際の把持ユニット２全体の弾性変形量が０．０１ｍｍである場合には、把持力（指先力）を調整するために逆方向へ指を移動すると、把持対象物Ｂは落下する。
しかしながら、受け部材１３に弾性体２０を取り付け、前記把持力（１０Ｎ）を受けた場合に弾性変形量が１ｍｍとなるように弾性体２０を設計しておけば、把持力を１０％刻みで調整可能となり、把持対象物Ｂの落下も防ぐことができる。
なお、把持装置（図示例によれば、把持装置Ａ）が安定的に把持対象物を把持するためには、（把持対象物を把持したときの弾性体２０の弾性変形量 - 振動による受け部材の位置変動）／弾性体２０の弾性率＞把持対象物Ｂの把持に必要な力、把持力 × 弾性体２０の弾性率＞第１の動作部１０（例えば、ロボットの指）の移動分解能の２つの条件を満たす必要がある。
また、把持力の調整可能分解能は、把持力×弾性体２０の弾性率／動作部（図示例によれば、第１の動作部１０）の移動分解能で計算できる。把持対象物Ｂを落下させずに把持力を調整可能とするためには、把持力の調整可能分解能を１未満にする必要があるが、弾性体２０の弾性率を適切に設定することにより、安定的に把持対象物Ｂを把持し続けるとともに、把持力の調整可能分解能を調整することが可能となる。
また、当該把持装置Ａでは、把持ユニット２全体の弾性変形量に加えバックラッシュも考慮して、上述したように弾性体２０の弾性率を設定している。 If the grasping target 2 is grasped with a grasping force of 10 N using the grasping unit 2 in which the movement resolution of the first operation unit 10 (for example, the finger of the robot) is 0.1 mm and the elastic body 20 is omitted. When the elastic deformation amount of the entire gripping unit 2 is 0.01 mm, the gripping target B is dropped when the finger is moved in the opposite direction to adjust the gripping force (fingertip force).
However, if the elastic body 20 is attached to the receiving member 13 and the elastic body 20 is designed so that the elastic deformation amount is 1 mm when the gripping force (10 N) is received, the gripping force is adjusted in 10% increments. It is possible to prevent the object B to be gripped from falling.
Note that in order for the gripping device (according to the illustrated example, the gripping device A) to stably grip the gripping target, (the elastic deformation amount of the elastic body 20 when gripping the gripping target-the receiving member due to vibration) Position variation) / elastic modulus of elastic body 20> force required for gripping the object B to be gripped, gripping force × elastic modulus of elastic body 20> movement resolution of the first motion unit 10 (for example, a finger of the robot) Two conditions must be met.
Further, the adjustable resolution of the gripping force can be calculated by (gripping force) × (modulus of elasticity of elastic body 20) / (moving resolution of motion unit (first motion unit 10 in the illustrated example)). In order to be able to adjust the gripping force without dropping the gripping target B, the adjustable resolution of the gripping force needs to be less than 1, but by appropriately setting the elastic modulus of the elastic body 20, It becomes possible to stably hold the gripping target B and adjust the adjustable resolution of the gripping force.
Further, in the gripping device A, the elastic modulus of the elastic body 20 is set as described above in consideration of the backlash in addition to the elastic deformation amount of the entire gripping unit 2.

また、第２の動作部３０は、先端側に第１の動作部１０の基端側を支持する長尺状の支持片部３１と、該支持片部３１の基端側に一体状に接続されるとともに略Ｌ字状に曲げられた形状の基片部３２とを具備している。 In addition, the second operation unit 30 is integrally connected to the base end side of the support piece unit 31 and an elongated support piece unit 31 that supports the base end side of the first operation unit 10 on the distal end side. And a base piece portion 32 having a substantially L-shape.

支持片部３１は、その先端側に、パラレルリンク１２の基端側を回転自在に支持し、さらに先端側には、可動アーム１１における一片部１１ａと他片部１１ｂが交差する部分を回転自在に支持している。
そして、この支持片部３１には、後述する第１の駆動源ユニット４０及び第１の動力伝達機構５０等が支持されている。 The support piece portion 31 rotatably supports the base end side of the parallel link 12 on the tip end side, and further, on the tip end side, the portion where the one piece portion 11a and the other piece portion 11b of the movable arm 11 intersect is rotatable. Support.
A first drive source unit 40, a first power transmission mechanism 50, etc., which will be described later, are supported by the support piece portion 31.

基片部３２は、支持片部３１の基端側に接続された一片部３２ａと、後述する第２の動力伝達機構７０に接続された他片部３２ｂとなる略Ｌ字状に形成され、これら一片部３２ａと他片部３２ｂの交差部分が、ベース部材１に対し支持ブラケット１ａ等を介して回転自在に支持されている。 The base piece portion 32 is formed in a substantially L shape, which is one piece portion 32a connected to the base end side of the support piece portion 31 and another piece portion 32b connected to a second power transmission mechanism 70 described later, An intersecting portion of the one piece portion 32a and the other piece portion 32b is rotatably supported by the base member 1 via the support bracket 1a and the like.

また、第１の駆動源ユニット４０は、円筒状のケース４１内に、回転駆動力を発生する駆動源４２と、該駆動源４２の回転力を調整して伝達する調速機構４３と、駆動源側から入力部４４ａに加わる駆動力を出力部４４ｂに伝達可能であって且つ出力側（具体的には第１の動力伝達機構５０側）から出力部４４ｂに力が加わった際には出力部４４ｂをロックする一方向動力伝達機構４４とを具備している（図１及び図２参照）。 Further, the first drive source unit 40 includes a drive source 42 that generates a rotational drive force, a speed control mechanism 43 that adjusts and transmits the rotational force of the drive source 42 in a cylindrical case 41, and a drive source 42. The driving force applied to the input section 44a from the source side can be transmitted to the output section 44b, and the output is generated when the output side (specifically, the first power transmission mechanism 50 side) applies a force to the output section 44b. And a one-way power transmission mechanism 44 for locking the portion 44b (see FIGS. 1 and 2).

駆動源４２は、出力軸４２ａを前方へ突出させた電動の回転式モータである。この駆動源４２の具体例としては、回転角を制御するようにしたステッピングモータや、ＤＣブラシレスモータ等が挙げられる。 The drive source 42 is an electric rotary motor having an output shaft 42a protruding forward. Specific examples of the drive source 42 include a stepping motor that controls the rotation angle, a DC brushless motor, and the like.

調速機構４３は、入力部４４ａの中心軸周りに複数配設され各々が自転する複数の第１の遊星歯車４３ａと、これら第１の遊星歯車４３ａに対し中央側から噛み合う太陽歯車４３ｂと、該太陽歯車４３ｂの軸方向の後端側に固定された支持回転体４３ｃと、該支持回転体４３ｃの後端面において中心軸周りに複数配設されそれぞれが自転する第２の遊星歯車４３ｄ（連接遊星歯車）と、第１及び第２の遊星歯車４３ａ，４３ｄに噛み合うケース４１内周面の内歯車４１ｂとを具備して、遊星歯車機構を構成している（図２及び図４参照）。
そして、この調速機構４３は、駆動源４２の出力軸４２ａから支持回転体４３ｃに伝達される回転力を、予め設定された適宜な比率で減速し、一方向動力伝達機構４４の入力部４４ａに伝達する。 The speed control mechanism 43 includes a plurality of first planetary gears 43a, each of which is arranged around the central axis of the input unit 44a and rotates about its own axis, and a sun gear 43b that meshes with the first planetary gears 43a from the center side. A supporting rotary body 43c fixed to the axial rear end side of the sun gear 43b, and a plurality of second planetary gears 43d (couplings) arranged around the central axis on the rear end face of the supporting rotary body 43c and rotating about their respective axes. The planetary gear mechanism and the internal gear 41b on the inner peripheral surface of the case 41 that meshes with the first and second planetary gears 43a and 43d constitute a planetary gear mechanism (see FIGS. 2 and 4).
The speed adjusting mechanism 43 reduces the rotational force transmitted from the output shaft 42a of the drive source 42 to the supporting rotary body 43c at an appropriate preset ratio, and the input portion 44a of the one-way power transmitting mechanism 44 is provided. Communicate to.

一方向動力伝達機構４４は、図２、図３および図５に示すように、ケース４１の軸方向前端側の収納室４１ａ内に、該収納室４１ａと同軸状に回転するように設けられた円形状の出力部４４ｂと、出力部４４ｂに対し同軸状に係合した円形状の入力部４４ａと、ケース４１内周面と入力部４４ａの外周面との間に位置する一対の係合子４４ｃ，４４ｄと、一方の係合子４４ｃを周方向の一方側（図３によれば時計方向側）へ付勢するとともに他方の係合子４４ｄを周方向の他方側（図３によれば反時計方向側）へ付勢する付勢部材４４ｇ（図示例によれば略Ｙ字状の板バネ）とを具備してなる。
そして、この一方向動力伝達機構４４は、調速機構４３から、入力部４４ａに回転力を受けた際に、この回転力を出力部４４ｂに伝達して出力部４４ｂを回転させ、また、出力部４４ｂに対し出力側（後述する第１の動力伝達機構５０側）から回転力が加わった際には、該出力部４４ｂを回転不能にロックする。 As shown in FIGS. 2, 3, and 5, the one-way power transmission mechanism 44 is provided in the storage chamber 41a on the axial front end side of the case 41 so as to rotate coaxially with the storage chamber 41a. A circular output portion 44b, a circular input portion 44a that is coaxially engaged with the output portion 44b, and a pair of engagement elements 44c located between the inner peripheral surface of the case 41 and the outer peripheral surface of the input portion 44a. , 44d and one engagement element 44c are urged to one side in the circumferential direction (clockwise side in FIG. 3) and the other engagement element 44d is in the other side in the circumferential direction (counterclockwise direction in FIG. 3). And a biasing member 44g (a substantially Y-shaped leaf spring in the illustrated example) for biasing the side).
When the input section 44a receives a rotational force from the speed adjusting mechanism 43, the one-way power transmission mechanism 44 transmits the rotational force to the output section 44b to rotate the output section 44b, and also outputs the output. When a rotational force is applied to the portion 44b from the output side (the first power transmission mechanism 50 side described later), the output portion 44b is locked so as not to rotate.

詳細に説明すれば、入力部４４ａが、例えば、図５に示すように、反時計方向へ回転した場合には、入力部４４ａのブロック状の押圧伝達部４４ａ１が、先ず一方の係合子４４ｃに当接することで、該係合子４４ｃと出力部４４ｂ外周側の傾斜状のカム面４４ｅとの摩擦、および該係合子４４ｃとケース４１内周面との摩擦が小さくなり、その後で、押圧伝達部４４ａ１が出力部４４ｂ外周側の凹部４４ｂ２内の側面に当接して出力部４４ｂを押動するため、出力部４４ｂが反時計方向へスムーズに回転する。
また、入力部４４ａに時計方向の回転力が加わった場合には、図示を省略するが、前述したのと逆方向への移動、当接、押動等によって、出力部４４ｂが時計方向へスムーズに回転する。 More specifically, when the input unit 44a rotates counterclockwise, as shown in FIG. 5, for example, the block-shaped pressure transmission unit 44a1 of the input unit 44a is first attached to the one engagement member 44c. By abutting, the friction between the engagement element 44c and the inclined cam surface 44e on the outer peripheral side of the output section 44b and the friction between the engagement element 44c and the inner peripheral surface of the case 41 are reduced. The output portion 44b smoothly rotates in the counterclockwise direction because the output portion 44b abuts against the side surface of the recess 44b2 on the outer peripheral side of the output portion 44b and pushes the output portion 44b.
Further, when a clockwise rotational force is applied to the input section 44a, although not shown, the output section 44b is smoothly moved in the clockwise direction by movement, contact, pushing, etc. in the opposite direction to that described above. Rotate to.

また、出力部４４ｂに、その出力側（第１の動力伝達機構５０側）から、例えば時計方向の回転力が加わった場合には、時計方向へ回転しようとする出力部４４ｂの他方のカム面４４ｆと収納室４１ａ内周面との間に、他方の係合子４４ｄが食い込むようにして強く押し付けられるため、出力部４４ｂの時計方向への回転が阻まれる。
同様にして、出力部４４ｂに、第１の動力伝達機構５０側から、例えば反時計方向の回転力が加わった場合には、反時計方向へ回転しようとする出力部４４ｂの一方のカム面４４ｅと収納室４１ａ内周面との間に、一方の係合子４４ｃが食い込むようにして強く押し付けられるため、出力部４４ｂの反時計方向への回転が阻まれる。 Further, when, for example, a clockwise rotational force is applied to the output portion 44b from the output side (the first power transmission mechanism 50 side), the other cam surface of the output portion 44b that tries to rotate in the clockwise direction. Since the other engaging element 44d is strongly pressed between the 44f and the inner peripheral surface of the storage chamber 41a so as to bite, rotation of the output section 44b in the clockwise direction is prevented.
Similarly, when a rotational force in the counterclockwise direction is applied to the output portion 44b from the first power transmission mechanism 50 side, the one cam surface 44e of the output portion 44b that attempts to rotate in the counterclockwise direction. Since one of the engaging elements 44c is strongly pressed against the inner peripheral surface of the storage chamber 41a, the output section 44b is prevented from rotating in the counterclockwise direction.

なお、この一方向動力伝達機構４４は、例えば、再公表特許ＷＯ２０１３／１３３１６２号公報に開示される発明を用いることが可能である。 The one-way power transmission mechanism 44 can use, for example, the invention disclosed in the republished patent WO 2013/133162.

また、第１の動力伝達機構５０は、第１の駆動源ユニット４０の回転力によって回転するように設けられた雄ネジ状部材５１、雄ネジ状部材５１に螺合する雌ネジ状部材５２、雌ネジ状部材５２の駆動力を可動アーム１１へ伝達する駆動リンク５３等を具備している。 Further, the first power transmission mechanism 50 has a male screw-shaped member 51 provided to rotate by the rotational force of the first drive source unit 40, a female screw-shaped member 52 screwed to the male screw-shaped member 51, A drive link 53 for transmitting the driving force of the female screw member 52 to the movable arm 11 is provided.

雄ネジ状部材５１は、外周面に雄ネジ状の螺旋溝を有する軸状の部材であり、軸受５４及びブラケット等を介して第２の動作部３０に対し回転自在且つ軸方向へ移動しないように支持されている。
この雄ネジ状部材５１の後端側と、第１の駆動源ユニット４０の出力部４４ｂとの間には、出力部４４ｂの回転力を雄ネジ状部材５１へ伝達するように、複数の歯車５５が設けられている。 The male screw-shaped member 51 is a shaft-shaped member having a male screw-shaped spiral groove on the outer peripheral surface, and is rotatable with respect to the second operating unit 30 via the bearing 54, a bracket, and the like, and does not move in the axial direction. Supported by.
Between the rear end side of the male screw-shaped member 51 and the output portion 44b of the first drive source unit 40, a plurality of gears are provided so that the rotational force of the output portion 44b is transmitted to the male screw-shaped member 51. 55 is provided.

雌ネジ状部材５２は、内周面に雌ネジ状の螺旋溝を有するナット状の部材であり、雄ネジ状部材５１の先端側の外周部に螺合している。
この雌ネジ状部材５２は、雄ネジ状部材５１の一方向の回転により前進し、同雄ネジ状部材５１の他方向の回転により後退する。
これら雄ネジ状部材５１及び雌ネジ状部材５２は、周知のボールねじ機構又はすべりねじ機構によって構成することが可能である。なお、この機構は、雌ネジ状部材５２に加わる軸方向の力によって雄ネジ状部材５１が回転することのないように構成される。すなわち、この機構は、上記一方向動力伝達機構４４と同様の機能を有する。 The female screw-shaped member 52 is a nut-shaped member having a female screw-shaped spiral groove on the inner peripheral surface, and is screwed onto the outer peripheral portion of the male screw-shaped member 51 on the tip side.
The female screw-shaped member 52 advances by rotation of the male screw-shaped member 51 in one direction, and retracts by rotation of the male screw-shaped member 51 in the other direction.
The male screw member 51 and the female screw member 52 can be configured by a well-known ball screw mechanism or a slide screw mechanism. Note that this mechanism is configured so that the male screw-shaped member 51 does not rotate due to the axial force applied to the female screw-shaped member 52. That is, this mechanism has the same function as the one-way power transmission mechanism 44.

駆動リンク５３は、一端側が雌ネジ状部材５２に対し回転自在に支持されるとともに、他端側を可動アーム１１の他片部１１ｂに対し回転自在に接続した直線状の部材である。 The drive link 53 is a linear member having one end rotatably supported by the female screw member 52 and the other end rotatably connected to the other piece 11b of the movable arm 11.

また、第２の駆動源ユニット６０は、第１の駆動源ユニット４０と同構成のケース６１、駆動源６２、調速機構６３、一方向動力伝達機構６４等によって構成され、ベース部材１の一端から一方向動力伝達機構６４の出力部を突出させるようにして、ベース部材１内に支持されている。 The second drive source unit 60 includes a case 61 having the same configuration as the first drive source unit 40, a drive source 62, a speed control mechanism 63, a one-way power transmission mechanism 64, and the like. It is supported in the base member 1 so that the output part of the one-way power transmission mechanism 64 is projected from the above.

第２の動力伝達機構７０も、第１の動力伝達機構５０と同構成の雄ネジ状部材７１、雌ネジ状部材７２、駆動リンク７３、軸受７４および複数の歯車７５等から構成される。この第２の動力伝達機構７０は、第２の駆動源ユニット６０と略平行に並ぶようにベース部材１内に支持され、第２の駆動源ユニット６０の駆動力を第２の動作部３０に伝達するように、駆動リンク６３の先端側を、第２の動作部３０の他片部３２ｂに回転自在に接続している。 The second power transmission mechanism 70 also includes a male screw-shaped member 71, a female screw-shaped member 72, a drive link 73, a bearing 74, a plurality of gears 75, and the like having the same configuration as the first power transmission mechanism 50. The second power transmission mechanism 70 is supported in the base member 1 so as to be aligned substantially parallel to the second drive source unit 60, and the drive force of the second drive source unit 60 is applied to the second operating unit 30. For transmission, the tip end side of the drive link 63 is rotatably connected to the other piece 32b of the second operation unit 30.

複数の把持ユニット２のうち、上述した把持ユニット２以外の把持ユニット２は、上記把持ユニット２と同構成である。図１に例示するように、複数の把持ユニット２は互いに線対称に配設される。
なお、複数の把持ユニット２の他例としては、非対称に配置した態様とすることも可能である。例えば、３つの把持ユニット２を角度１２０毎に配設した態様や、複数の把持ユニット２を人間の手指や腕等と同様に配設した態様等とすることも可能である。 Of the plurality of gripping units 2, the gripping units 2 other than the above-described gripping unit 2 have the same configuration as the gripping unit 2. As illustrated in FIG. 1, the plurality of grip units 2 are arranged line-symmetrically to each other.
Note that, as another example of the plurality of grip units 2, it is possible to adopt an aspect in which they are arranged asymmetrically. For example, it is possible to adopt a mode in which three grip units 2 are arranged at each angle 120, a mode in which a plurality of grip units 2 are arranged in the same manner as human fingers, arms, and the like.

次に、上記構成の把持装置Ａについて、その特徴的な作用効果を詳細に説明する。
当該把持装置Ａによって把持対象物Ｂを挟む際、二つの把持ユニット２について、それぞれ、駆動源４２（モータ）に電力が供給され、該駆動源４２が一方向へ回転する。
駆動源４２の回転力は調速機構４３によって調速され、一方向動力伝達機構４４を介して第１の動力伝達機構５０に伝達される。
第１の動力伝達機構５０は、雄ネジ状部材５１を回転させることで雌ネジ状部材５２を前進させ、この前進に伴って前進する駆動リンク５３が、可動アーム１１の他片部１１ｂを押し動かし、可動アーム１１が回動する。この際、受け部材１３により連結されたパラレルリンク１２も同時に回動することになる。 Next, the characteristic effects of the gripping device A having the above configuration will be described in detail.
When sandwiching the gripping target B by the gripping device A, electric power is supplied to the driving sources 42 (motors) of the two gripping units 2, and the driving sources 42 rotate in one direction.
The rotational force of the drive source 42 is speed-controlled by the speed-control mechanism 43 and is transmitted to the first power transmission mechanism 50 via the one-way power transmission mechanism 44.
The first power transmission mechanism 50 causes the female screw member 52 to move forward by rotating the male screw member 51, and the drive link 53 that advances with this advance pushes the other piece 11 b of the movable arm 11. The movable arm 11 rotates by moving. At this time, the parallel link 12 connected by the receiving member 13 also rotates at the same time.

そして、この回動に伴い、一方の把持ユニット２の弾性体２０と、他方の把持ユニット２の弾性体２０とが、略平行状態のまま、これらの間の幅Ｗを狭め、左右の弾性体２０の間に把持対象物Ｂが把持（挟持）される。弾性体２０は、把持対象物Ｂに押圧されて弾性変形する。
駆動源４２は、図示しない制御装置によって動作が制御される。
この制御装置は、例えば、電源、モータドライバ、演算増幅器等を含む制御回路等により構成されている。この制御装置は、把持ユニット２が把持対象物Ｂを把持する際の押圧力を、図示しない検知手段により駆動源４２の負荷電流として検知する。
そして、前記制御装置は、通常の把持動作時においては、前記負荷電流値が予めプログラム設定している基準値を超えない範囲で、駆動源４２が駆動することによって、把持対象物Ｂを把持する動作を行う。また、前記負荷電流値が前記基準値を超えたときには、駆動源４２の供給電力を自動的に遮断する。
なお、前記検知手段は、駆動源４２の負荷電流を検知するものではなく、トルクセンサ、圧力センサ或いは力覚センサなどを用いて前記押圧力を測定するものとし、この測定値が、予め適宜に設定した基準値を超えた場合に、駆動源４２の供給電力を遮断するようにしてもよい。 With this rotation, the elastic body 20 of the one gripping unit 2 and the elastic body 20 of the other gripping unit 2 are narrowed in the width W between them while the elastic body 20 of the other gripping unit 2 remains in a substantially parallel state. The object to be gripped B is gripped (sandwiched) between 20. The elastic body 20 is pressed by the grip target B and elastically deforms.
The operation of the drive source 42 is controlled by a control device (not shown).
This control device is composed of, for example, a power supply, a motor driver, a control circuit including an operational amplifier, and the like. This control device detects the pressing force when the gripping unit 2 grips the gripping target B as a load current of the drive source 42 by a detection unit (not shown).
Then, during a normal gripping operation, the control device grips the gripping target B by driving the drive source 42 within a range in which the load current value does not exceed a preset reference value. Take action. Further, when the load current value exceeds the reference value, the power supply of the drive source 42 is automatically cut off.
The detection means does not detect the load current of the drive source 42, but measures the pressing force by using a torque sensor, a pressure sensor, a force sensor, or the like, and the measured value is appropriately set in advance. The power supply of the drive source 42 may be cut off when the set reference value is exceeded.

前記電力遮断状態では、第１の動力伝達機構５０及び一方向動力伝達機構４４が逆方向の力を伝達せずに出力部４４ｂをロックするため、受け部材１３及び第１の動作部１０が逆方向へ動作するようなことがない。このため、弾性体２０が把持対象物Ｂに押圧されて弾性変形した状態が維持され、この結果、左右の弾性体２０の間に把持対象物Ｂが把持された状態が維持される。 In the power cut-off state, since the first power transmission mechanism 50 and the one-way power transmission mechanism 44 lock the output portion 44b without transmitting the force in the opposite direction, the receiving member 13 and the first operation portion 10 are reversed. It does not work in the direction. Therefore, the state in which the elastic body 20 is pressed by the grasping target B and elastically deformed is maintained, and as a result, the state in which the grasping target B is grasped between the left and right elastic bodies 20 is maintained.

そして、前記把持状態において、駆動源４２を逆回転させるように該駆動源４２に電力を供給すれば、駆動源４２の逆方向の回転力が一方向動力伝達機構４４及び第１の動力伝達機構５０を介して第１の動作部１０等に伝達されるため、第１の動作部１０が逆方向へ回動し、左右の弾性体２０の間から把持対象物Ｂが解放される。
なお、一方向動力伝達機構４４及び第１の動力伝達機構５０の作用により把持対象物Ｂを把持する際、把持力が目標値を超えてしまう場合がある。このような場合には、必要に応じて前記把持力を低減させるために、前記把持力を目標値に一致させるように駆動源４２を逆回転させ、第１の動作部１０を逆方向に回動させる。この時、仮に弾性体２０がない場合には把持対象物Bを把持する力が急激に減少し、把持対象物Ｂを落下させてしまう恐れがあるが、本実施態様の把持装置Ａでは、弾性体２０を含む上記構成によって、回動量に対する把持力の変化を前述の通り緩やかにすることができ、その結果として、把持対象物Ｂを落下させることなく把持力を維持することが可能である。 Then, in the gripped state, if electric power is supplied to the drive source 42 so as to rotate the drive source 42 in the reverse direction, the rotational force in the reverse direction of the drive source 42 causes the one-way power transmission mechanism 44 and the first power transmission mechanism. Since it is transmitted to the first operating unit 10 and the like via 50, the first operating unit 10 rotates in the opposite direction, and the grasped object B is released from between the left and right elastic bodies 20.
Note that when the object to be gripped B is gripped by the action of the one-way power transmission mechanism 44 and the first power transmission mechanism 50, the gripping force may exceed the target value. In such a case, in order to reduce the gripping force as necessary, the drive source 42 is rotated in the reverse direction so that the gripping force matches the target value, and the first operating unit 10 is rotated in the reverse direction. To move. At this time, if the elastic body 20 is not present, the force for gripping the gripping target B may be sharply reduced, and the gripping target B may be dropped. However, in the gripping device A of the present embodiment, With the above configuration including the body 20, the change in the gripping force with respect to the amount of rotation can be made gentle as described above, and as a result, the gripping force can be maintained without dropping the gripping target B.

また、第２の駆動源ユニット６０の駆動源６２を動作させれば、第２の動作部３０を回動させることができ、この回動によって、弾性体２０の把持面の角度を変えたり、把持可能な最大幅を変化させたり等することができる。 Further, by operating the drive source 62 of the second drive source unit 60, the second operating unit 30 can be rotated, and by this rotation, the angle of the grip surface of the elastic body 20 can be changed, The maximum width that can be gripped can be changed.

よって、上記構成の把持装置Ａによれば、把持対象物Ｂを把持した後に、駆動力を遮断したとしても、弾性体２０の弾性（復元力）及び摩擦等によって、把持対象物Ｂに対する把持力を十分に保持することができる。この結果、把持対象物Ｂに対する把持状態を維持する際の消費電力を大幅に軽減することができる。
また、把持対象物Ｂを把持した際に、把持ユニット２のバックラッシュや固有の弾性変形量等を含む必要最小限の弾性変形となるように、弾性体２０の弾性率が設定されているため、高速に動作させた場合でも、把持の確実性が低下するようなことを防ぐことができる。 Therefore, according to the gripping device A having the above-described configuration, even if the driving force is cut off after gripping the gripping target B, the gripping force for the gripping target B by the elasticity (restoring force) and friction of the elastic body 20. Can be held sufficiently. As a result, it is possible to significantly reduce the power consumption when maintaining the gripped state of the gripping target B.
In addition, the elastic modulus of the elastic body 20 is set so that when the object B to be gripped is gripped, the elastic modulus of the elastic body 20 is set to the minimum necessary elastic deformation including the backlash of the gripping unit 2 and the inherent elastic deformation amount. Even when operated at high speed, it is possible to prevent the reliability of gripping from being lowered.

なお、上記実施態様によれば、駆動源４２，６２として電動の回転式モータを用いたが、この駆動源の他例としては、エアー式の回転式モータや直動機構、出力軸を振動によって回転させたり直動させたりする機構、電磁ソレノイドによって出力軸を直動させるようにした機構、これらの機構を適宜に組み合わせた機構等とすることが可能である。 According to the above-described embodiment, the electric rotary motors are used as the drive sources 42 and 62. However, as another example of the drive sources, the pneumatic rotary motor, the direct drive mechanism, and the output shaft are driven by vibration. A mechanism for rotating or linearly moving, a mechanism for linearly moving the output shaft by an electromagnetic solenoid, a mechanism in which these mechanisms are appropriately combined, and the like can be used.

また、上記実施態様によれば、調速機構４３として遊星歯車機構を用いたが、この調速機構の他例としては、複数の歯車を適宜に組み合わせた機構や、直動ねじ機構、ハーモニックドライブ（登録商標）を用いた機構、これらの機構を適宜に組み合わせた機構等とすることも可能である。 Further, according to the above-described embodiment, the planetary gear mechanism is used as the speed adjusting mechanism 43, but as another example of the speed adjusting mechanism, a mechanism in which a plurality of gears are appropriately combined, a direct acting screw mechanism, a harmonic drive is used. A mechanism using (registered trademark), a mechanism in which these mechanisms are appropriately combined, or the like can be used.

また、上記実施態様によれば、弾性体２０の復元力により第１の動作部１０が逆方向へ動作しないように、一方向動力伝達機構４４や第１の動力伝達機構５０のボールねじ機構又はすべりねじ機構等を設けたが、同様の機能を有する他例としては、ウォームギア機構を用いた態様や、これらの機構を適宜に組み合わせた態様等とすることも可能である。 Further, according to the above-described embodiment, the ball screw mechanism of the one-way power transmission mechanism 44 or the first power transmission mechanism 50 or the first power transmission mechanism 50 is provided so that the first operating unit 10 does not move in the reverse direction due to the restoring force of the elastic body 20. Although the slide screw mechanism and the like are provided, as another example having the same function, a mode using a worm gear mechanism or a mode in which these mechanisms are appropriately combined can be adopted.

また、上記実施態様によれば、特に好ましい具体例として、把持ユニット２のバックラッシュと固有の弾性変形量の合計の変化量を含むように弾性体２０の弾性率を設定したが、他例としては、バックラッシュのみを含むように前記弾性率を設定したり、前記弾性変形量のみを含むように前記弾性率を設定することも可能である。 Further, according to the above embodiment, as a particularly preferable example, the elastic modulus of the elastic body 20 is set so as to include the total change amount of the backlash of the grip unit 2 and the inherent elastic deformation amount, but as another example. It is also possible to set the elastic modulus so as to include only backlash, or to set the elastic modulus so as to include only the elastic deformation amount.

また、上記実施態様によれば、第１の動作部１０、第１の駆動源ユニット４０および第１の動力伝達機構５０と、第２の動作部３０、第２の駆動源ユニット６０および第２の動力伝達機構７０との二つの動作部分を具備するようにしたが、他例としては、いずれか一方の動作部分を省いたり、上記同様の構成によって動作部分を三以上設けたりすることも可能である。 Further, according to the above-described embodiment, the first operating unit 10, the first drive source unit 40 and the first power transmission mechanism 50, the second operating unit 30, the second drive source unit 60 and the second operating unit 30. Although it has two operating parts with the power transmission mechanism 70, as another example, it is possible to omit one of the operating parts, or to provide three or more operating parts with the same configuration as above. Is.

また、上記実施態様によれば、二つの把持ユニット２が何れも動作する態様としたが、他例としては、一方の把持ユニット２を不動に固定された一体の部材とし、該部材と、動作可能な他の把持ユニット２との間で、把持対象物Ｂを把持する構成とすることも可能である。 In addition, according to the above-described embodiment, the two gripping units 2 operate, but as another example, one gripping unit 2 is an immovably fixed integral member, and It is also possible to adopt a configuration in which the gripping target B is gripped with another possible gripping unit 2.

また、上記実施態様によれば、二つの把持ユニット２の間で把持対象物Ｂを把持するようにしたが、他例としては、三以上の把持ユニット２の間で把持対象物Ｂを把持する態様や、人間の手指状に構成された複数の把持ユニット２の間で把持対象物Ｂを把持する態様等とすることも可能である。 Further, according to the above-described embodiment, the gripping target B is gripped between the two gripping units 2, but as another example, the gripping target B is gripped between three or more gripping units 2. It is also possible to adopt a mode or a mode in which the gripping target B is gripped between the plurality of gripping units 2 configured like a human finger.

また、本発明は上述した実施態様に限定されず、本発明の要旨を変更しない範囲で適宜変更可能である。 Further, the present invention is not limited to the above-described embodiment, and can be appropriately changed without changing the gist of the present invention.

１：ベース部材
２：把持ユニット
１０：第１の動作部
２０：弾性体
３０：第２の動作部
４０：第１の駆動源ユニット
４１：ケース
４１ａ：収納室
４２，６２：駆動源
４３，６３：調速機構
４４，６４：一方向動力伝達機構
４４ｃ，４４ｄ：係合子
４４ｅ，４４ｆ：カム面
４４ｇ：付勢部材
４４ａ：入力部
４４ｂ：出力部
６０：第２の駆動源ユニット
Ａ：把持装置
Ｂ：把持対象物 1: Base member 2: Gripping unit 10: First operating unit 20: Elastic body 30: Second operating unit 40: First drive source unit 41: Case 41a: Storage chamber 42, 62: Drive source 43, 63 : Speed control mechanism 44, 64: Unidirectional power transmission mechanism 44c, 44d: Engagement element 44e, 44f: Cam surface 44g: Energizing member 44a: Input section 44b: Output section 60: Second drive source unit A: Gripping device B: Object to be grasped

Claims

In a gripping device that opens and closes between a plurality of gripping units and grips or releases a gripping target object between these gripping units,
At least one of the plurality of gripping units includes
A one-way power transmission mechanism capable of transmitting a driving force applied from the drive source side to the input part to the output part and locking the output part when a force is applied to the output part from the output side,
A drive source for applying a drive force to the input section,
An operating unit that moves the receiving member in the opening and closing direction by the driving force of the output unit;
An elastic body provided in a portion of the operating portion on the closing direction side of the receiving portion so as to be pressed by an object to be grasped ,
The displacement amount due to the backlash of the grip unit and the amount of elastic deformation of the grip unit generated when a preset pressing force is applied to the drive source side of the elastic body are larger than the change amount. Set the elastic modulus of the elastic body so that the elastic body elastically deforms,
(Amount of elastic deformation of the elastic body when grasping the object to be grasped-positional change of the receiving member due to vibration) / Elastic modulus of the elastic body> Gripping force required to grasp the object to be grasped,
The gripping device is configured to satisfy the following two conditions: gripping force × elasticity of elastic body> movement resolution of the operating unit .

In a gripping device that opens and closes between a plurality of gripping units and grips or releases a gripping target object between these gripping units,
At least one of the plurality of gripping units includes
A one-way power transmission mechanism capable of transmitting a driving force applied from the drive source side to the input part to the output part and locking the output part when a force is applied to the output part from the output side,
A drive source for applying a drive force to the input section,
An operating unit that moves in the opening and closing direction by the driving force of the output unit,
An elastic body provided in a portion on the closing direction side of the operation portion so as to be pressed by the object to be grasped,
The one-way power transmission mechanism includes a storage chamber having a columnar space, the output unit stored in the storage chamber so as to rotate coaxially, and the output unit engaged so as to rotate coaxially with the output unit. The input portion, an engagement element provided between the inner peripheral surface of the storage chamber and the outer peripheral surface of the output portion, and a biasing member that biases the engagement element to one side in the circumferential direction, On the outer peripheral surface of the output portion, a cam surface that gradually narrows between the inner peripheral surface of the storage chamber toward the one side is formed, and when the input portion rotates to the other side with respect to the one side, After contacting the input portion with the engagement element, the input portion is configured to contact the output portion to push the output portion,
Furthermore, on the output side of the one-way power transmission mechanism, another power transmission mechanism for axially advancing and retracting a female screw-shaped member screwed to the male screw-shaped member by rotation of the male screw-shaped member is provided,
The output portion of the one-way power transmission mechanism and the male screw-shaped member of the other power transmission mechanism are arranged side by side so that their central axes are parallel to each other, and the rotational force of the output portion is generated by the gear to the male screw shape. A gripping device which is transmitted to a member and is configured to move the operating portion in the opening / closing direction by advancing and retracting the female screw-shaped member as the male screw-shaped member rotates .