JP6736792B1 - Gripping device and robot system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a gripping device capable of easily exchanging gripping claws, and a robot system equipped with this gripping device. SOLUTION: A gripping device 20 is provided so as to be engageable and disengageable corresponding to the gripping claws 30 and 31, and is moved in the approaching and separating directions while being engaged with the gripping claws 30 and 31. The moving bodies 24 and 26 are provided with the main body 21 having the engaging grooves 22 and 23 that engage and guide the moving bodies 24 and 26, and the drive unit that moves the moving bodies 24 and 26. The grip claws 30 and 31 have engaging portions that engage with the engaging grooves 22 and 23 of the main body 21. The drive unit includes a clamp position where the grip claws 30 and 31 grip the target object, an unclamp position where the grip claws 30 and 31 release the target object, and an engaging groove between the grip claws 30 and 31 and the main body 21. The movable bodies 24 and 26 are moved to the attachment/detachment positions where the engagement with the movable bodies 22 and 23 is released and the grip claws 30 and 31 can be separated from the movable bodies 24 and 26. The robot system includes this gripping device 20. [Selection diagram]

Description

The present invention relates to a gripping device that grips an article, and a robot system including a robot that includes the gripping device as an end effector.

Generally, a robot that performs a work includes a gripping device as an end effector, and grips an article by the gripping device and performs a work such as transferring the article (see Patent Document 1 below).

This gripping device includes a main body that is detachably attached to the robot, and a pair of gripping claws that are held by the main body so as to approach and separate from each other. Holds the article by bringing the two closer together.

By the way, the optimum shape and size of the gripping claw in such a gripping device varies depending on the work content of the robot and the shape and size of the article to be handled. Therefore, in the conventional robot, the work content of the robot and According to the shape and size of the article to be handled, the gripping device having the optimum gripping claw has been replaced and used (see Patent Document 1 below).

JP, 2008-103292, A

However, the element of the gripping device, which is required to be optimized according to the work performed by the robot and the shape and size of the article to be handled, is mainly the gripping claw as described above, and in many cases, the main body can also be used. ..

As a matter of course, when the price of the gripping claw is compared with the price of the entire gripping device, the price of the gripping claw is significantly lower. Therefore, in the above optimization, it is preferable from the viewpoint of equipment cost to replace only the gripping claw with an optimum one and use the same for the main body.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a gripping device capable of easily exchanging gripping claws, and a robot system including a robot including the gripping device.

The present invention for solving the above problems,
Two or more gripping claws are provided so as to be respectively engageable and disengageable corresponding to the gripping claws, and in a state of being engaged with the gripping claws, the gripping claws are moved toward and away from each other A gripping device including two or more moving bodies,
A main body that has a plurality of engaging grooves that engage with each of the moving bodies and guide the movement of each of the moving bodies, and that holds the moving body in a state of being engaged with the engaging grooves;
A drive unit that moves each of the moving bodies along the engagement groove,
The grip claw has an engaging portion that engages with the engaging groove of the main body, and is formed on the side of the moving body in the direction away from the moving body in the state of being engaged with the moving body. Then
The drive unit is a position that is sequentially set in the separating direction, and is a clamp position where the grip claw grips an object, an unclamp position where the grip claw releases the object, and the grip claw. The gripping device configured to move the moving body to an attachment/detachment position where the engagement between the engaging portion and the engaging groove of the main body is released, and the holding claws can be detached from the moving body. Pertain to.

According to the gripping device of this aspect (first aspect), by causing each of the moving bodies to approach along the engagement groove by the driving unit, a predetermined object is gripped by the gripping claw at the clamp position. To be done. On the other hand, the object is unclamped by moving the movable bodies away from each other by the drive unit to move the grip claws to the unclamp position.

Then, when the grip claws are further separated and moved to the attachment/detachment position, the engagement between the grip claw and the engagement groove of the main body is released, whereby each grip claw is associated with the main body and the corresponding position. It becomes possible to separate from each moving body. Thus, when exchanging the grip claws, the currently mounted grip claws are moved to the attachment/detachment position and removed from the main body and the corresponding moving body, and then a new grip claw is engaged with the moving body. Then, by moving the respective moving bodies in a direction of approaching each other, the engaging portion of the new grip claw engages with the engagement groove of the main body, whereby each grip claw is held by the main body.

As described above, according to the grasping device of the first aspect, by moving each grasping claw held by the main body to the attaching/detaching position, each grasping claw can be replaced at the attaching/detaching position. The gripping claw can be optimized according to the shape and size of the article to be gripped, and when the gripping device is mounted on a robot, the gripping claw can be optimized according to the work content. It can be anything. Further, since the gripping device can be optimized by replacing only the gripping claws, the gripping device can be optimized at low cost.

In the gripping device of the first aspect, the engaging groove formed in the main body and the engaging portion formed in the gripping claw each have an inverted T-shaped cross section. Is preferred. As in the grasping device of this aspect (second aspect), the engaging groove and the engaging portion have an inverted T-shaped cross section, so that the engagement and disengagement between the grasping claw and the main body can be easily performed. It is possible to move the grip claws with high accuracy.

In the gripping device of the first and second aspects, one of the grip claw and the moving body has an engaging projection, and the other has an engaging hole, and the engaging projection is It is possible to adopt a mode in which the grip claw and the moving body are engaged with each other by being inserted into the engaging hole. According to the gripping device of this aspect (third aspect), it is possible to easily engage and disengage the grip claw and the moving body.

Also, in the gripping device of the first and second aspects, the grip claw is an engaging portion that engages with an engaging groove of the main body, and is more than the moving body in a state of being engaged with the moving body. Also further provided with another engaging portion formed on the approaching direction side,
The main body has a communication hole through which the other engaging portion can communicate with the engaging groove when the moving body is in the attachment/detachment position,
It is possible to adopt a mode in which the gripping claw and the moving body are configured to engage with each other when the moving body is located between the two engaging portions formed on the gripping claw.

According to the grasping device of this aspect (fourth aspect), since the grasping claw and the moving body are engaged by positioning the moving body between the two engaging portions formed on the grasping claw, The engagement and disengagement between the grip claw and the moving body can be easily performed. In addition, at the attachment/detachment position, the other gripping claw can be engaged with and disengaged from the main body by moving the other engaging portion of the gripping claw in and out through the communication hole. Can be done easily.

The present invention also provides a robot system including the gripping device according to any one of the first to fourth aspects, and a robot to which the gripping device is attached.
A gripping claw stocker having a storage part that stores a plurality of sets of gripping claws that can be mounted on the gripping device, and a replacement station for replacing the gripping claws;
The grip claw stocker is configured to store a used grip claw arranged at the exchange station in the storage unit and transfer a new grip claw for replacement from the storage unit to the exchange station,
The robot moves the gripping device to an exchange station, and at the exchange station, moves the moving body from the clamp position or the unclamp position to the attachment/detachment position to set a set of used gripping claws. And moving the moving body from the attachment/detachment position to the clamp position or the unclamp position, and mounting a new set of replacement gripping claws arranged at the replacement station. And a robot system configured to perform the operations.

According to this robot system, the grip claws of the grip device mounted on the robot can be automatically replaced with the grip claws stored in the storage section of the grip claw stocker.

That is, first, the robot is operated to move the gripping device attached to the robot to the exchanging station of the gripping claw stocker, and then the moving body of the gripping device is clamped or unclamped at the exchanging station. By moving from the position to the attachment/detachment position, the set of used gripping claws is detached from each moving body and the main body. Then, by the operation of the grip claw stocker, the set of used grip claws that have been separated are transferred from the exchange station to the storage section and stored in the storage section.

Next, the operation of the grip claw stocker transfers a new set of replacement grip claws from the storage section to the exchange station. Then, the robot is operated to engage the new gripping claws arranged at the exchange station with the corresponding moving bodies, and then move the moving body from the attachment/detachment position to the clamp position or the unclamp position. Let As a result, a new grip claw is attached to the main body of the grip device.

As described above, according to the gripping device of the present invention, by moving the gripping claws held by the main body to the attachment/detachment position, the gripping claws can be replaced at the attachment/detachment position. The gripping claw can be optimized according to the shape and size of the article to be gripped, and when the gripping device is mounted on a robot, the gripping claw can be optimized according to the work content. It can be anything. Further, since the gripping device can be optimized by replacing only the gripping claws, the gripping device can be optimized at low cost.

Further, according to the robot system of the present invention, the grip claws of the grip device mounted on the robot can be automatically replaced with the grip claws stored in the storage part of the grip claw stocker. ..

1 is a plan view showing a schematic configuration of a robot system according to a first embodiment of the present invention. FIG. 3 is a perspective view showing the robot according to the first embodiment. It is a perspective view showing the grasping device concerning a 1st embodiment. FIG. 3 is a perspective view showing a grip claw according to the first embodiment. It is a front view showing the operation part of the grasping device concerning a 1st embodiment. It is explanatory drawing for demonstrating operation|movement of the holding|grip apparatus which concerns on 1st Embodiment. It is explanatory drawing for demonstrating operation|movement of the holding|grip apparatus which concerns on 1st Embodiment. It is explanatory drawing for demonstrating operation|movement of the holding|grip apparatus which concerns on 1st Embodiment. It is a perspective view showing a grasping device concerning a 2nd embodiment. It is a perspective view showing a grasping nail concerning a 2nd embodiment. It is a front view showing the operation part of the grasping device concerning a 2nd embodiment. It is explanatory drawing for demonstrating operation|movement of the holding|grip apparatus which concerns on 2nd Embodiment.

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

(First embodiment)
First, a first embodiment of the present invention will be described. As shown in FIG. 1, the robot system 1 of this example includes an automatic guided vehicle 5, a robot 10 mounted on the automatic guided vehicle 5, a gripping claw stocker 40, and the like.

The automatic guided vehicle 5 includes a sensor capable of recognizing its own position (for example, a distance measurement sensor using laser light), and is configured to travel in a trackless manner under the control of a robot controller (not shown). For example, the machine tools, the material stocker, the measuring machine, and the gripping claw stocker 40 arranged in the building of the factory are passed to the respective working positions respectively set.

As shown in FIG. 1 and FIG. 2, the robot 10 is an articulated robot having three arms, a first arm 11, a second arm 12, and a third arm 13, and It is mounted on the mounting surface 6, which is the upper surface, and passes through each of the above-mentioned work positions. Further, a gripping device 20 as an end effector is attached to the tip of the third arm 13 of the robot 10, and two cameras 15a and 15b are attached via a support bar 14.

According to this robot 10, under the control of the robot control device (not shown), the work is gripped by the gripping device 20 and is carried into the machine tool, the material stocker or the measuring machine, and from these. Carry out the work. At that time, the images captured by the cameras 15a and 15b may be used.

As shown in FIGS. 3 to 5, the gripping device 20 includes a prism-shaped main body 21, two moving bodies 24 and 26, and two gripping claws 30 that engage with the moving bodies 24 and 26, respectively. 31 and a drive unit 35 for moving the moving bodies 24 and 26.

As shown in FIG. 3, the main body 21 has engagement grooves (inverted T-shaped dovetail grooves) 22 and 23 arranged in parallel at a predetermined interval along the longitudinal direction so as to open on the upper surface thereof. Although not specifically shown, the bottom surfaces of the engagement grooves 22 and 23 open into an internal space formed in the central portion of the main body 21.

The movable bodies 24 and 26 have an inverted T-shaped cross section, and are inserted into the engagement grooves 22 and 23, respectively, so that they can approach and separate from each other. Engagement projections 25 and 27 are provided on the upper surfaces of the moving bodies 24 and 26, respectively.

The grip claws 30 and 31 are provided so as to be engaged with the movable bodies 24 and 26, and each have an L-shaped main body portion 30a, 31a and a vertical piece portion constituting the main body portion 30a, 31a. When the claw portions 30b and 31b respectively formed on the mutually opposing surfaces of the movable bodies 24 and 26 are engaged with the claw portions 30b and 31b, respectively, the cross-sectional shape formed on the side away from the movable bodies 24 and 26 is The engaging portions 30c and 31c having an inverted T shape are provided, and the engaging portions 30c and 31c can be inserted into the engaging grooves 22 and 23 formed in the main body 21, respectively.

In addition, engaging holes 30d and 31d are formed in the horizontal piece portion constituting the main body portions 30a and 31a so as to vertically penetrate therethrough, and the engaging protrusions 25 provided on the moving bodies 24 and 26 are provided. , 27 are inserted into the engagement holes 30d, 31d, the grip claws 30, 31 are engaged with the moving bodies 24, 26. Further, the claw portions 30b and 31b have V-shaped grooves vertically formed on the mutually facing surfaces, and the ridges of the V-shaped grooves are aligned in the approaching and separating directions of the moving bodies 24 and 26. There is.

The driving unit 35 is provided in the internal space formed in the main body 21, and is extended to the lower surfaces of the moving bodies 24 and 26 in a direction approaching each other as shown in FIG. The rack bars 37 and 38 that are fixedly installed so that their front ends overlap with each other, the pinion gear 36 that is disposed between the rack bars 37 and 38 at the overlapping portion, and the drive that drives the pinion gear 36. It is composed of a motor 39. The rack bars 37 and 38 have tooth grooves formed on their mutually opposing surfaces, and the pinion gear 36 meshes with each tooth groove. The main body 21 is not shown in FIG. The operation of the drive motor 39 is controlled by the robot controller (not shown).

Thus, under the control of the robot controller (not shown), when the pinion gear 36 is rotated by being driven by the drive motor 39, the rack bars 37 and 38 are moved from the meshing relationship with the pinion gear 36. When driven, the moving bodies 24 and 26 and the grip claws 30 and 31 move toward and away from each other.

In this example, as shown in FIG. 6, the work W is gripped by the claw portions 30b and 31b of the grip claws 30 and 31 in a state where the moving bodies 24 and 26 and the grip claws 30 and 31 are close to each other. It In this example, this position is called a clamp position.

On the other hand, as shown in FIG. 7, when the moving bodies 24, 26 and the grip claws 30, 31 are moved so as to separate from each other, the grip of the work W by the claw portions 30b, 31b is released. In this example, with the engaging portions 30c and 31c of the gripping claws 30 and 31 completely inserted into the engaging grooves 22 and 23 of the main body 21, the predetermined position where the gripping claws 30 and 31 are separated from each other is canceled. This is called the clamp position.

Then, the moving bodies 24, 26 and the grip claws 30, 31 move in a direction further away from the unclamp position, and the engaging portions 30c, 31c of the grip claws 30, 31 move as shown in FIG. When the grip claws 30 and 31 are completely removed from the engagement grooves 22 and 23 of the main body 21, the grip claws 30 and 31 can be separated from the main body 21 and the moving bodies 24 and 26. In this example, this position is called the attachment/detachment position.

As described above, in this example, the moving bodies 24 and 26 and the grip claws 30 and 31 move to the clamp position, the unclamp position, and the attachment/detachment position under the control of the robot control device (not shown). To do.

As shown in FIG. 1, the grip claw stocker 40 is mounted on the robot 10 and a plurality of holders 42 that hold a pair of grip claws 30 and 31, a storage section 41 that houses the plurality of holders 42. And a transfer mechanism (not shown) for transferring the holder 42 between the exchange station 43 and the storage section 41. The exchange station 43 is a position for exchanging the grasping claws 30 and 31 of the grasping device 20. There is. The shapes and dimensions of the plurality of sets of the grip claws 30 and 31 are set according to the application, and are different for each. The operations of the storage section 41 and the transfer mechanism (not shown) are controlled by a stocker control device (not shown). In the description of the present example, for convenience, the same reference numerals are used for the grip claws mounted on the grip device 20 and the grip claws stored in the storage section 41.

The gripping claws 30 and 31 are held by the holder 42 in a state where the gripping device 20 shown in FIG. 8 is turned upside down, and are stored in the storage section 41 while being held by the holder 42. An empty holder 42 that does not hold the gripping claws 30 and 31 is waiting at the exchange station 43.

According to the robot system 1 of the present example having the above-described configuration, the robot 10 operates under the control of the robot control device (not shown), for example, by the operation of the automatic guided vehicle 5, such as the above-described machine tool and material stocker. Work is carried in and out via each work position of the measuring machine.

When it is necessary to replace the gripping claws 30 and 31 of the gripping device 20 mounted on the robot 10 during these operations, the robot 10 uses the robot control device (not shown) and the stocker control device (not shown). Under control of (not shown), the used gripping claws 30 and 31 mounted on the gripping device 20 and a plurality of sets of gripping claws 30 and 31 stored in the storage section 41 are selected by the following procedure. The new grip claws 30 and 31 are replaced.

That is, first, under the control of the robot controller (not shown), the robot 10 moves to the work position of the grip claw stocker 40, and the grip device 20 moves the grip claws 30 and 31 to the unclamp position. Move to. At that time, the gripping device 20 is assumed to be in an inverted posture from the posture shown in FIG. Next, the robot 10 moves the gripping device 20 to a position above the empty holder 42 in the exchange station 43, and then lowers it so that the holder 42 can hold the gripping claws 30 and 31. To do.

Then, under the control of the robot control device (not shown), the grip device 20 moves the grip claws 30 and 31 to the attachment/detachment positions. As a result, the grip claws 30 and 31 are released from the engagement with the main body 21 and can be released from the engagement with the moving bodies 24 and 26. Next, when the robot 10 moves the gripping device 20 upward, the gripping claws 30 and 31 are disengaged from the moving bodies 24 and 26 by their own weights and are held by the holder 42. In this way, after the used gripping claws 30 and 31 are held by the holder 42 in the exchange station 43, the robot controller (not shown) operates with respect to the stocker controller (not shown). After accommodating the holder 42 in the exchange station 43 in the storage section 41, the holder 42 holding the desired gripping claws 30 and 31 is taken out from the storage section 41 and a request signal for transferring to the exchange station 43 is transmitted. To do.

Next, when the stocker control device (not shown) receives the request signal, the stocker control device (not shown) operates the transfer mechanism (not shown) and the storage unit 41 to store the holder 42 in the exchange station 43 in the storage unit. After being accommodated in 41, the holder 42 holding the requested gripping claws 30 and 31 is taken out from the storage section 41 and transferred to the exchange station 43, after which a completion signal is sent to the robot controller (not shown). Send.

Then, the robot control device (not shown) lowers the gripping device 20 and inserts the moving bodies 24, 26 into the engaging holes 30d, 31d of the gripping claws 30, 31 held by the holder 42 in the exchange station 43. The engagement protrusions 25 and 27 are set in a fitted state. Next, the gripping device 20 moves the moving bodies 24 and 26 to the unclamping positions, so that the engaging portions 30c and 31c of the gripping claws 30 and 31 are inserted into the engaging grooves 22 and 23 of the main body 21, respectively. Thus, the grip claws 30 and 31 are attached to the main body 21. After that, the robot 10 moves the gripping device 20 upward and ends the replacement of the gripping claws 30 and 31.

As described above, according to the robot system 1 of the present example, the used gripping claws 30 and 31 of the gripping device 20 mounted on the robot 10 and the grips stored in the storage section 41 of the gripping claw stocker 40 are held. The desired new grip claws 30 and 31 selected from the claws 30 and 31 can be automatically replaced.

By exchanging the grip claws 30 and 31 in this way, the grip claws 30 and 31 can be optimized according to the shape and size of the article to be gripped, and the work content of the robot 10 can be improved. Can be the optimum one according to. Further, since the gripping device 20 can be optimized by exchanging only the gripping claws 30 and 31, the gripping device 20 can be optimized at low cost.

Further, since the engaging grooves 22 and 23 formed in the main body 21 and the engaging portions 30c and 31c formed in the grasping claws 30 and 31 have the inverted T-shaped cross section, It is possible to easily engage and disengage the claws 30 and 31 and the main body 21, and it is possible to move the grip claws 30 and 31 with high accuracy.

Further, by engaging the engaging projections 25 and 27 provided on the moving bodies 24 and 26 into the engaging holes 30d and 31d provided on the holding claws 30 and 31, respectively, the holding claws 30 and 31 and the moving body 24 are inserted. , 26 are engaged with each other, it is possible to easily engage and disengage the grip claws 30, 31 and the moving bodies 24, 26.

(Second embodiment)
Next, a second embodiment of the present invention will be described. The robot system according to the second embodiment differs from the robot system 1 according to the first embodiment described above only in the configuration of the gripping device. Therefore, only the gripping device will be described below.

As shown in FIGS. 9 to 12, the gripping device 50 of the present example, like the gripping device 20 described above, has a prismatic main body 51, two moving bodies 56 and 57, and the moving bodies 56 and 57. The two gripping claws 60 and 61 respectively engaged with the moving parts 56 and 57 and the drive part 65 for moving the moving parts 56 and 57.

As shown in FIG. 9, the main body 51 has engagement grooves (inverted T-shaped dovetail grooves) 52, 53 arranged in parallel at a predetermined interval along the longitudinal direction so as to open on the upper surface thereof. Although not specifically shown, the bottom surfaces of the engagement grooves 52 and 53 open into an internal space formed in the central portion of the main body 51. Further, in the main body 51, when the movable bodies 56 and 57 are in the attachment/detachment positions described below, the engagement portions 60d and 61d of the grip claws 60 and 61 described below can communicate with the engagement grooves 52 and 53. Communication holes 54 and 55 are formed.

The movable bodies 56 and 57 have an inverted T-shaped cross section, and are inserted into the engagement grooves 52 and 53, respectively, so that they can approach and separate from each other.

The grip claws 60 and 61 are provided so as to be engaged with the moving bodies 56 and 57, and have L-shaped main body portions 60a and 61a and vertical piece portions that form the main body portions 60a and 61a. When the claw portions 60b and 61b respectively formed on the surfaces facing each other and the movable bodies 56 and 57 are engaged with each other, the cross-sectional shape formed on the side away from the movable bodies 56 and 57 is It is provided with engaging portions 60c and 61c having an inverted T-shape, and engaging portions 60d and 61d having a reverse T-shape in transverse cross-section formed on the side closer to the moving bodies 56 and 57. The engaging portions 60c, 61c, 60d, 61d can be inserted into the engaging grooves 52, 53 formed in the main body 51, respectively.

In the state where the grip claws 60 and 61 and the moving bodies 56 and 57 are engaged, the moving body 56 is located between the engaging portions 60c and 60d, and the moving body 57 is located between the engaging portions 61c and 61d. ing. Further, the claw portions 60b and 61b have V-shaped grooves formed in the vertical direction on the mutually facing surfaces, and the ridges of the V-shaped grooves are aligned in the approaching and separating directions of the moving bodies 56 and 57. There is.

The driving unit 65 is provided in the internal space formed in the main body 51, and extends on the lower surfaces of the moving bodies 56 and 57 in a direction approaching each other, as shown in FIG. The rack bars 67 and 68 that are fixedly installed so that their front ends overlap with each other, the pinion gear 66 that is disposed between the rack bars 67 and 68 at the overlapping portion, and the drive that drives the pinion gear 66. It is composed of a motor 69. The rack bars 67 and 68 are formed with tooth grooves on their surfaces facing each other, and the pinion gear 66 is meshed with each tooth groove. The main body 51 is not shown in FIG. The operation of the drive motor 69 is controlled by the robot controller (not shown).

Thus, when the pinion gear 66 is rotated by being driven by the drive motor 69 under the control of the robot control device (not shown), the rack bars 67, 68 are engaged due to the meshing relationship with the pinion gear 66. When driven, the moving bodies 56 and 57 and the grip claws 60 and 61 move toward or away from each other.

Also in this example, the work W is gripped by the claw portions 60b and 61b of the grip claws 60 and 61 at the clamp positions where the moving bodies 56 and 57 and the grip claws 60 and 61 are close to each other. When the moving bodies 56, 57 and the grip claws 60, 61 are moved to the unclamp position so as to be separated from each other, the grip of the work W by the claw portions 60b, 61b is released.

Then, the moving bodies 56, 57 and the grip claws 60, 61 move in a direction further away from the unclamp position, and as shown in FIG. 12, the engaging portions 60c, 61c of the grip claws 60, 61 are moved to the above-mentioned positions. When the engaging portions 60d and 61d pass through the communication holes 54 and 55 formed in the main body when they are at the attachment/detachment position where they are completely removed from the engaging grooves 52 and 53 of the main body 51, the grip claws 60 and 31 are removed. It can be detached from the main body 51 and the moving bodies 56 and 57.

As described above, also in this example, the moving bodies 56 and 57 and the grip claws 60 and 61 are moved to the clamp position, the unclamp position, and the attachment/detachment position under the control of the robot control device (not shown). It can be moved, and the grip claws 60 and 61 can be exchanged at the attachment/detachment position.

Thus, according to the gripping device 51 of the present example, by positioning the moving bodies 56, 57 between the two engaging portions 60c, 60d, 61c, 61d formed on the gripping claws 60, 61, Since the grip claws 60, 61 and the moving bodies 56, 57 engage with each other, the engagement and disengagement between the grip claws 60, 61 and the moving bodies 56, 57 can be easily performed. Further, at the attachment/detachment position, the engaging portions 60d, 61d of the gripping claws 60, 61 are moved in and out through the communication holes 54, 55, thereby engaging and disengaging the gripping claws 60, 61 with respect to the main body 51. Therefore, the grip claws 60 and 61 can be easily attached and detached.

Although the specific embodiments of the present invention have been described above, the embodiments of the present invention are not limited to the above examples.

For example, in the first embodiment, the movable bodies 24 and 26 are provided with the engagement protrusions 25 and 27, and the grip claws 30 and 31 are provided with the engagement holes 30d and 31d. The engaging projections may be provided on the grip claws 30 and 31.

Again, the above description of the embodiments is illustrative in all respects and not restrictive. Those skilled in the art can appropriately make modifications and changes. The scope of the invention is indicated by the claims rather than by the embodiments described above. Further, the scope of the present invention includes modifications from the embodiments within the scope equivalent to the claims.

DESCRIPTION OF SYMBOLS 1 Robot system 5 Automated guided vehicle 10 Robot 20 Gripping device 21 Main body 22, 23 Engaging groove 24, 26 Moving body 25, 27 Engaging protrusion 30, 31 Gripping claw 30b, 31b Claw part 30c, 31c Engaging part 35 Drive part 36 Pinion Gear 37, 38 Rack Bar 39 Drive Motor 40 Gripping Claw Stocker 41 Storage Section 42 Holder 43 Exchange Station

Claims (5)

Two or more gripping claws are provided so as to be respectively engageable and disengageable corresponding to the gripping claws, and in a state of being engaged with the gripping claws, the gripping claws are moved toward and away from each other A gripping device including two or more moving bodies,
A main body that has a plurality of engaging grooves that engage with each of the moving bodies and guide the movement of each of the moving bodies, and that holds the moving body in a state of being engaged with the engaging grooves;
A drive unit that moves each of the moving bodies along the engagement groove,
The grip claw has an engaging portion that engages with the engaging groove of the main body, and is formed on the side of the moving body in the direction away from the moving body in the state of being engaged with the moving body. Then
The drive unit is a position that is sequentially set in the separating direction, and is a clamp position where the grip claw grips an object, an unclamp position where the grip claw releases the object, and the grip claw. Is configured to move the moving body to an attachment/detachment position where the engagement between the engaging portion and the engaging groove of the main body is released and the gripping claws can be detached from the moving body. A gripping device. The gripping device according to claim 1, wherein the engaging groove formed in the main body and the engaging portion formed in the gripping claw each have an inverted T-shape in cross section. .. One of the grip claw and the moving body has an engagement projection, and the other has an engagement hole, and the engagement projection is inserted into the engagement hole, so that The gripping device according to claim 1 or 2, wherein the gripping device is configured to engage with the moving body. The grip claw is an engaging portion that engages with an engaging groove of the main body, and is another engaging portion that is formed closer to the moving body than the moving body in a state of being engaged with the moving body. With further provision,
The main body has a communication hole through which the other engaging portion can communicate with the engaging groove when the moving body is in the attachment/detachment position,
The gripping claw and the moving body are configured to engage with each other when the moving body is located between two engaging portions formed on the gripping claw. 2. The gripping device according to 2. A robot system comprising the gripping device according to any one of claims 1 to 4 and a robot to which the gripping device is mounted,
A gripping claw stocker having a storage part for accommodating a plurality of sets of gripping claws attachable to the gripping device and an exchange station for replacing the gripping claws;
The grip claw stocker is configured to store a used grip claw arranged at the exchange station in the storage unit and transfer a new grip claw for replacement from the storage unit to the exchange station,
The robot moves the gripping device to an exchange station, and at the exchange station, moves the moving body from the clamp position or the unclamp position to the attachment/detachment position to set a set of used gripping claws. And moving the moving body from the attachment/detachment position to the clamp position or the unclamp position, and mounting a new set of replacement gripping claws arranged at the replacement station. A robot system characterized in that it is configured to perform an action.

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