JP6883908B1 - Robot hand device and gripping means used for it - Google Patents

Abstract

In the robot hand device 10 that grips an object by the first and second hand portions facing each other with a gap, the gripping means 14 and 15 used for the first and second hand portions are made of rubber or resin. The gripping body 23 is made of the wear-resistant material of the above, and the gripping body 23 elastically deforms on the contact surface side with the object in accordance with the surface shape of the object to restrain the object. The morphological restraint region 26 has higher rigidity than the morphological restraint region 26, and a force restraint region 27 that grips and restrains the object is provided, and the morphological restraint region 26 and the force restraint region 27 are connected and integrated. ..

Description

The present invention relates to a robot hand device for gripping an object and a gripping means used therein.

For example, in the logistics and manufacturing industries, automation of work is being promoted, and the following hand devices can be used for this automation.
The multi-finger hand disclosed in Non-Patent Document 1 has a two-layer structure in which the nail attached to the fingertip has a two-layer structure, and the first-layer nail is thin and longer than the tip of the finger and can be inserted into the lower part of the object. The second layer of nails is thick and has the same shape as the fingertips, and the flexible fingertips support the elastic force applied to the object.
The robot hand device disclosed in Patent Document 1 includes a grip body that grips an object, a flexible film that covers the grip surface of the grip body, and a fluid or gel-like fluid that fills the space between the flexible film and the grip body. And have.

Japanese Patent No. 5762758

Hoshi Baba, 6 others, "Gripping Plan for Multi-Finger Hands with Claws", Proceedings of Robotics and Mechatronics Lectures, 3P2-R01, May 25-29, 2014

However, in the multi-finger hand disclosed in Non-Patent Document 1, since the claw has a two-layer structure and is a combination of different members, for example, it is necessary to combine separately manufactured members, which increases the manufacturing cost. Poor workability during manufacturing. Further, since the nail has a two-layer structure, the second-layer nail may be peeled off from the first-layer nail during use. Since the nail is attached to the fingertip, the nail may come off from the fingertip.
The fingertip is made of flexible urethane gel, but since the fingernail has a two-layer structure attached to the fingernail, the ability to imitate the shape when the object comes into contact is not sufficient. In particular, since the first layer nail is arranged between the fingertip and the second layer nail, when trying to increase the strength of the first layer nail used by inserting it into the lower part of the object, the above-mentioned The ability to follow the shape is further reduced. Since only the part of the first layer nail protruding from the tip of the finger has hardness, the object is held (picked) and restrained by the opposing finger (the area of the second layer nail). If you do, you cannot contribute.
The robot hand device disclosed in Patent Document 1 has a flexible structure that imitates the shape of an object, but has no hardness, and the ability to hold and restrain the object between opposing grips is reduced.
As shown above, the conventional technique can handle only the work of a specific gripping form, and when performing the work of a different gripping form, it is necessary to prepare a plurality of hand devices corresponding to the work.

The present invention has been made in view of such circumstances, and an object of the present invention is to provide a robot hand device capable of performing work under a plurality of conditions without preparing a plurality of them, and a gripping means used therefor.

The robot hand device according to the first invention according to the above object is a robot hand device provided on a base portion and gripping an object by first and second hand portions facing each other at intervals.
The first and second hand portions are provided on the base portion via a position adjusting means for adjusting the distance between the first and second hand portions.
The gripping means used for either one or both of the first and second hand portions has a gripping body made of a wear-resistant material made of rubber or resin, and the gripping body has the object and the object. On the contact surface side of the object, there is a morphological restraint region that elastically deforms according to the surface shape of the object to restrain the object, and the rigidity is higher than that of the morphological restraint region, and the object is gripped and restrained. a force restraining region is provided, the form closure region and said force restraining region, the density of which is constituted by the wear-resistant material made of the same material which together continuously connected, and the wear resistant material of the form closure region , The thickness on the contact surface side with the object and one or two or more of the internal structures are changed to classify the object .

Here, the morphological restraint region can be provided at the central portion of the gripping body, and the force restraint region can be provided at the tip of the gripping body.
Further, the form restraint region may be provided in the central portion of the gripping main body, and the force restraint region may be provided in both side portions in the width direction of the gripping main body.

The robot hand device according to the second invention according to the above object is a robot hand device provided on a base portion and gripping an object by first and second hand portions facing each other at intervals.
The first and second hand portions are provided on the base portion via a position adjusting means for adjusting the distance between the first and second hand portions.
The gripping means used for either one or both of the first and second hand portions has a gripping body made of a wear-resistant material made of rubber or resin, and the gripping body has the object and the object. From the contact surface side to the back surface side (in the depth direction, that is, in the sinking direction of the gripping body when gripping the object), the object is elastically deformed according to the surface shape of the object to restrain the object. a form closure region, wherein said form closure region higher rigidity as compared with the object and the force restraining area for gripping to constraint are sequentially provided, the form closure region and said force restraining region, and connected It is composed of the wear-resistant material of the same material as one, and the density of the wear-resistant material in the form restraint region, the thickness on the contact surface side with the object, and one or two or more of the internal structures are changed. It is classified by .

The gripping means used in the robot hand device according to the third invention according to the above object is provided in the robot hand device, and the first and second hand portions facing each other at intervals sandwiching the object from both sides thereof. In the gripping means used for either one or both of
It has a gripping body made of a wear-resistant material made of rubber or resin, and the gripping body is elastically deformed on the contact surface side with the object in accordance with the surface shape of the object. a form closure region to restrain, said form closure region higher rigidity as compared with the object and the force restraining area for gripping to restraint provided, said form closure region and said force restraining region, articulated The density of the wear-resistant material in the form-constrained region, the thickness of the contact surface side with the object, and one or more of the internal structures, which are integrally formed of the wear-resistant material of the same material. It is classified by changing it .

Here, the morphological restraint region can be provided at the central portion of the gripping body, and the force restraint region can be provided at the tip of the gripping body.
Further, the form restraint region may be provided in the central portion of the gripping main body, and the force restraint region may be provided in both side portions in the width direction of the gripping main body.

The gripping means used in the robot hand device according to the fourth invention according to the above object is provided in the robot hand device, and the first and second hand portions facing each other at intervals sandwiching the object from both sides thereof. In the gripping means used for either one or both of
It has a gripping body made of a wear-resistant material made of rubber or resin, and the gripping body has a gripping body from the contact surface side with the object to the back surface side (in the depth direction, that is, when gripping the object). The morphological restraint region that elastically deforms to restrain the object according to the surface shape of the object (in the sinking direction of the gripping body) and the morphological restraint region has higher rigidity than the morphological restraint region and grips the object. and it is sequentially provided with a force restraining area for restraining it, the form closure region and said force restraining region is constituted by the wear-resistant material made of the same material which together continuously connected, and the said form closure region It is classified by changing the density of the wear-resistant material, the thickness of the contact surface side with the object, and one or two or more of the internal structures .

The robot hand device according to the first to fourth inventions and the gripping means used therein stabilize the object, for example, because the gripping body in contact with the object is made of a wear-resistant material made of rubber or resin. It can be gripped easily, and the progress of wear due to contact with an object can be slowed down, so that it can be used for a long period of time.
Here, the robot hand device according to the first and third inventions and the gripping means used therein are provided with a morphological restraint region and a force restraint region on the contact surface side of the gripping body with the object. For example, one robot hand device (grasping means) can select a gripping form suitable for gripping an object.
Further, in the robot hand device according to the second and fourth inventions and the gripping means used therein, the morphological restraint region and the force restraint region are sequentially arranged in the depth direction from the contact surface side to the back surface side of the gripping main body with the object. Since it is provided, for example, one robot hand device (grasping) can be adjusted by adjusting the sinking of the object into the gripping body by adjusting the force when the object is pinched by the first and second hand portions. Means), a gripping form suitable for gripping the object can be selected.
Further, the robot hand device according to the first to fourth inventions and the gripping means used therein need to be manufactured separately, for example, because the morphological restraint region and the force restraint region are connected and integrated. In addition, peeling of the force restraint region from the morphological restraint region can be suppressed or even prevented.
Therefore, by selecting the gripping areas (morphological restraint area and force restraint area) provided in the gripping means of the robot hand device according to the type of the object, a plurality of conditions can be obtained without preparing a plurality of robot hand devices. Can do the work of.

It is a perspective view of the robot hand device which concerns on one Example of this invention. (A) to (C) are front views of the gripping means of the robot hand device according to the modified example, respectively.

Subsequently, an embodiment embodying the present invention will be described with reference to the attached drawings, and the present invention will be understood.
The robot hand device 10 according to an embodiment of the present invention shown in FIG. 1 is used as an end effector (that is, a gripper) of a robot arm which is an industrial robot or a collaborative robot, and performs a gripping operation suitable for various operations. It is a possible device. The object to be gripped here is not particularly limited, and includes, for example, various devices, parts, foods, and the like, and the shape, mass, and size thereof are various (for example, rod-shaped, plate-shaped, and spherical).
The details will be described below.

The robot hand device 10 includes a base portion 12 having a space portion 11 inside, and a pair of opposing first and second hand portions (each of a gripping means) provided in the base portion 12 via a position adjusting means 13. Example) It has 14 and 15.
The position adjusting means 13 includes a linear guide (linear motion guide) 16 attached and fixed to the outside of the base portion 12, a ball screw 17 arranged in the base portion 12 along the longitudinal direction of the linear guide 16, and the ball screw 17. It has a motor (not shown) that rotationally drives the ball screw 17 in both directions around its axis, and adjusts the spacing between the hand portions 14 and 15.
The linear guide 16 movably supports the sliders 18 and 19 to which the pair of hand portions 14 and 15 are fixed, respectively, and the base portions (upper part in FIG. 1) of the sliders 18 and 19 are the base portions 12, respectively. It is located inside.

The ball screw 17 is threaded in opposite directions (right-hand thread and left-hand thread) on both sides of the ball screw 17 with the central portion in the axial direction as a boundary, and both sides of the ball screw 17 in the axial direction (right-hand thread area). The bases of the sliders 18 and 19 arranged in the base portion 12 are screwed into the left-handed screw region), respectively.
As a result, when the ball screw 17 is rotated in one direction by driving the motor, the two sliders 18 and 19 move in the direction away from each other (the direction in which the object is released), so that the hand portions 14 and 15 facing each other move. The interval is widened. Further, when the ball screw 17 is rotated in the other direction by the drive of the motor, the two sliders 18 and 19 move in the directions close to each other (the direction of grasping the object and the direction of grasping the object), so that the hand portions facing each other The intervals between 14 and 15 are narrowed.

The pair of hand portions 14 and 15 are attached to the sliders 18 and 19 via the mounting bases 20 and 21, respectively, and are provided on the core material 22 and the core material 22 erected on the mounting bases 20 and 21, respectively. It has a gripping body 23.
One mounting base 20 can be mounted and removed from the slider 18 and the other mounting base 21 can be mounted and removed from the slider 19 by bolts (mounting members) 24 (that is, the hand portions 14 and 15 can be mounted and removed from the position adjusting means 13). However, the hand portions 14 and 15 can be configured not to be removed from the sliders 18 and 19 (position adjusting means 13) (integrated configuration).

The core material 22 is a wide plate-like material made of a hard material (for example, made of metal or plastic), and the wide surfaces of the core material 22 face each other in the pair of hand portions 14 and 15. As described above (so that the width direction of the core member 22 is orthogonal to the longitudinal direction of the linear guide 16 (the axial direction of the ball screw 17)), the core member 22 is mounted and fixed to the mounting bases 20 and 21.
The gripping body 23 is a bag-shaped material made of a rubber or resin wear-resistant material, and the width thereof is gradually narrowed toward the tip. In use, the gripping body 23 is covered from the tip side of the plate-shaped core material 22 to the base portion, and the core material 22 is bolted (attached) from its back side (opposite to the contact surface side with the object). It is attached and fixed by a member) 25. As a result, the gripping body 23 can be replaced.

The wear-resistant material constituting the gripping body 23 is a material capable of slowing the progress of wear due to contact with the object to be gripped. For example, the shore hardness (shore hardness (HS hardness): JIS K 6253, etc.) is 60 to 60 to It is preferable to use urethane rubber (preferably ether type, ester type, etc.) of about 90 (preferably lower limit is 65, further 70, upper limit is 85, further 80), but the following materials can also be used. ..
Examples of rubber include nitrile rubber (NBR), chloroprene rubber (CR), fluororubber, natural rubber (NR), synthetic natural rubber (IR), butadiene rubber (BR), styrene-butadiene rubber (SBR), and butyl rubber (butyl rubber). IIR), ethylene / propylene rubber (EPR), acrylic rubber (ACM), chlorosulfonated polyethylene rubber (CSM), ethylene / vinyl acetate rubber (EVA), epichlorohydrin rubber (CO, ECO) and the like.
Examples of the resin include olefin resins (polypropylene resin, polyethylene resin, etc.), urethane resins, soft vinyl chloride resins, thermoplastic elastomas (olefin thermoplastic elastoma, styrene thermoplastic elastoma, modified styrene thermoplastic elastoma, etc. There are soft resins such as urethane-based thermoplastic elastoma (TPU), hydrogenated styrene-butadiene rubber (HSBR), etc.) and mixtures thereof. Further, as an example of the mixture, there is a copolymer resin composed of a polyethylene resin and an ethylene vinyl acetate resin (EVA resin).

A morphological restraint region 26 and a force restraint region 27 having different degrees (degrees) of elastic deformation (different rigidity) are provided on the contact surface side of the gripping main body 23 with an object. Specifically, the force restraint region 27 is provided on the inverted L-shaped stepped portion 28 formed at the tip portion (tip portion) of the gripping body 23, and the morphological restraint region 26 is a region excluding the tip portion (at least). It is provided in the central portion of the gripping body 23).
The morphological restraint region 26 has the flexibility of elastically deforming, and is a portion that elastically deforms and restrains the object according to the surface shape of the object when the pair of hand portions 14 and 15 grips the object. ..
The force restraint region 27 is a portion that has higher rigidity than the morphological restraint region 26, hardly elastically deforms, and holds (picks and grips) an object.

The morphological restraint region 26 and the force restraint region 27 can be classified by changing any one or more of the density, thickness, and internal structure of the wear-resistant material as follows.
The morphological restraint region 26 is a region (soft portion) in which the degree of elastic deformation is larger than that of the force restraint region 27, and the density of the wear-resistant material is made smaller than that of the force restraint region 27 (for example, the porosity is 50 to 50 to). 90%), make the thickness of the wear-resistant material thinner than the force restraint region 27 (for example, about 1 to 5 mm), and make the internal structure honeycomb-shaped (honeycomb-shaped, lattice-shaped, sponge-shaped: sparse state), etc. It can also be formed by accommodating and arranging sponge-like materials (same material or different materials) inside.
Further, the force restraint region 27 is a region where the degree of elastic deformation is smaller than that of the morphological restraint region 26 (a portion having high rigidity), and the density of the wear-resistant material is made larger than that of the morphological restraint region 26 (for example, a void). The rate is 0, or more than 0 and about 5% or less), the thickness of the wear-resistant material is made thicker than the form restraint region 26 (for example, about 10 mm or more), and the internal structure is in a state where there are no voids (dense state). By doing so, it can be formed.

In this way, by changing any one or more of the density, thickness, and internal structure of the wear-resistant material, the morphological restraint region 26 and the force restraint region can be obtained in one gripping body 23 without being composed of different materials. 27 can be connected and integrally provided.
The morphological restraint region 26 and the force restraint region 27 are continuously formed. For example, a transition region is provided between the morphological restraint region and the force restraint region, and the morphological restraint region is applied to the force restraint region. Therefore, it can be formed so that the degree of elastic deformation (rigidity) gradually changes (for example, stepwise or gently).
Further, the positions where the morphological restraint region and the force restraint region are provided are not limited to the above-mentioned positions, and may be formed as follows, for example.

In the gripping main body 30 shown in FIG. 2A, a force restraint region 31 is provided at the tip portion of the gripping main body 30 over the width direction, and the morphological restraint region 32 is a region excluding the tip portion (at least the gripping main body 30). It is provided in the central part of).
In the gripping main body 35 shown in FIG. 2B, force restraint regions 36 are provided on both side portions in the width direction of the gripping main body 35, and the morphological restraint regions 37 are regions excluding both side portions in the width direction (at least in the center of the gripping main body 35). It is provided in the section).
In the gripping body 40 shown in FIG. 2C, a force restraint region 41 is provided in an annular shape along the peripheral edge portion of the gripping body 40, and the morphological restraint region 42 is a central portion of the gripping body 40 (force restraint region 41). It is provided on the inside).
The force restraint region can be provided not only in a linear shape but also in a curved shape, a bent shape (L-shaped or T-shaped), a spiral shape, or the like, and one or one in the central portion of the gripping body. Multiple pieces can be provided. In this case, the morphological restraint region is provided in the region other than the force restraint region.

Subsequently, a method of gripping an object using the robot hand device 10 according to an embodiment of the present invention will be described.
First, the ball screw 17 is rotated in one direction by driving the motor, and the two sliders 18 and 19 are moved in the directions away from each other, so that the distance between the opposing hand portions 14 and 15 is set from the width of the object to be gripped. Also spread. Then, the robot hand device 10 is moved so that the object is positioned between the opposing hand portions 14 and 15.
Next, the ball screw 17 is rotated in the other direction by driving the motor, and the two sliders 18 and 19 are moved in the directions close to each other to narrow the distance between the opposing hand portions 14 and 15.

Here, for example, if the object to be gripped is soft, the object is sandwiched and gripped from both sides by the facing morphological restraint regions 26 provided in the pair of hand portions 14 and 15, respectively. At this time, the morphological restraint region 26 is deformed so as to imitate the outer surface of the object.
Further, for example, if the object to be gripped is a hard object (a flat object such as a hardened rubber band or a rubber band), a force is exerted by the force restraining region 27 of the opposing stepped portions 28 provided on the pair of hand portions 14 and 15, respectively. The restraint region 27 sandwiches (picks) and grips the object from both sides without elastic deformation.
In this way, by selecting the gripping areas (morphological restraint area 26 and force restraint area 27) provided in the hand portions 14 and 15 (grasping main body 23) of the robot hand device 10 according to the type of the object and the like. One robot hand device 10 can perform work under a plurality of conditions.

In the above-described embodiment, the case where the morphological restraint region and the force restraint region are provided on the contact surface side of the gripping main body with the object has been described. The back side: the side opposite to the contact surface) can be sequentially provided in the depth direction (thickness direction) (that is, the morphological restraint region and the force restraint region may be provided at different positions when the gripping body is viewed from the front. It can also be provided so that they overlap each other). The morphologically constrained region is a region in which the degree of elastic deformation is larger than that of the force-constrained region (a portion having high rigidity), and by changing the density or internal structure of the wear-resistant material described above, the morphologically constrained region can be combined with the morphologically constrained region. The force restraint area can be divided. As a result, the morphological restraint region and the force restraint region can be connected and integrally provided on one gripping main body without the gripping main body being made of different materials.
In this way, when the morphological restraint region and the force restraint region are provided in the thickness direction of the gripping body, the thickness of the morphological restraint region is set to, for example, about 20 to 50 mm in consideration of the subduction of the object. The thickness of the gripping body is set to, for example, about 10 mm or more, and the thickness of the gripping body (thickness from the contact surface of the object of the gripping body to the core material) is preferably determined based on this thickness.

In use, the hand portion using the gripping means (grasping main body) is operated as follows (the basic operation is the same as that of the robot hand device 10 described above).
First, the robot hand device is moved so that the object is located between the opposing hand portions, and the distance between the opposing hand portions is narrowed.
At this time, for example, if the object to be gripped is soft, the distance between the opposing hand portions is narrowed within the thickness range of the morphological restraint region. As a result, the morphological restraint region is deformed so as to imitate the outer surface of the object.
Further, for example, if the object to be gripped is a hard object, the distance between the opposing hand portions is further narrowed. As a result, in the force restraint region located on the back side of the morphological restraint region, the object is sandwiched (picked) and gripped from both sides of the deformed morphological restraint region.
Therefore, it is possible to switch between morphological restraint and force restraint by adjusting the distance between the opposing hand portions without selecting the gripping position of the object.
Further, when the object is gripped with a relatively weak gripping force, the morphological restraint region is elastically deformed according to the surface shape of the object, but when the gripping force is further applied, it is deformed due to the presence of the core material. The limit is coming. At this point, the morphological restraint region changes to a force restraint region. Therefore, it is possible to switch between morphological restraint (region) and force restraint (region) depending on the magnitude of the gripping force.

Although the present invention has been described above with reference to Examples, the present invention is not limited to the configuration described in the above-described Examples, but is within the scope of the claims. It also includes other possible examples and modifications. For example, the case where a part or all of the above-described examples and modifications are combined to form the robot hand device of the present invention and the gripping means used therein is also included in the scope of rights of the present invention.
In the above embodiment, the case where the gripping means in which the form restraint region and the force restraint region are provided on both of the pair of hand portions of the robot hand device is used has been described. It is also possible to use a gripping means provided with a restraint region and a force restraint region. In this case, the other hand portion may be provided with only the morphological restraint region or only the force restraint region, or a conventionally known hand portion may be used.

Further, in the above embodiment, the robot hand device having the first and second hand portions using the gripping means has been described, but for example, any of the first and second hand portions of the conventionally known hand devices. The case where one or both of them are replaced with the gripping means of the present invention (when only the gripping means is used) is also included in the scope of rights of the present invention.
In the above embodiment, the morphological restraint region and the force restraint region provided in the gripping means are plane-symmetrical with the pair of gripping means, but may be asymmetrical (positions at which the morphological restraint region and the force restraint region are provided). However, it may be different for a pair of gripping means).
Further, in the above embodiment, a case where a ball screw is used as the position adjusting means and the pair of hand portions are moved in the direction of moving away from or approaching at the same time has been described. For example, the first and second hand portions have been described. It is also possible to provide a motor for each of the screws and move them individually, or to provide a motor only for one hand portion so that the motor can be moved, and the other hand portion can be fixed and not moved.

The robot hand device according to the present invention and the gripping means used therein can select a gripping area (morphological restraint area and force restraint area) provided in the gripping means of the robot hand device according to the type of the object and the like. As a result, it is possible to perform work under a plurality of conditions without preparing a plurality of robot hand devices. Therefore, for example, it can be effectively used as an end effector for an industrial robot or a robot arm device which is a collaborative robot, and can be used for distribution and manufacturing. It can contribute to the automation of work in the industry.

10: Robot hand device, 11: Space part, 12: Base part, 13: Position adjusting means, 14: First hand part (grip means), 15: Second hand part (grip means), 16: Linear guide , 17: Ball screw, 18, 19: Slider, 20, 21: Mounting base, 22: Core material, 23: Gripping body, 24, 25: Bolt, 26: Morphological restraint area, 27: Force restraint area, 28: Step Part, 30: gripping body, 31: force restraint area, 32: morphological restraint area, 35: gripping body, 36: force restraint area, 37: morphological restraint area, 40: gripping body, 41: force restraint area, 42: morphology Restraint area

Claims (8)

In a robot hand device provided on a base portion and gripping an object by first and second hand portions facing each other at intervals.
The first and second hand portions are provided on the base portion via a position adjusting means for adjusting the distance between the first and second hand portions.
The gripping means used for either one or both of the first and second hand portions has a gripping body made of a wear-resistant material made of rubber or resin, and the gripping body has the object and the object. On the contact surface side of the object, a morphological restraint region that elastically deforms to restrain the object according to the surface shape of the object and has higher rigidity than the morphological restraint region, and grips and restrains the object. a force restraining region is provided, the form closure region and said force restraining region, the density of which is constituted by the wear-resistant material made of the same material which together continuously connected, and the wear resistant material of the form closure region , A robot hand device, characterized in that it is classified by changing the thickness on the contact surface side with the object and one or two or more of the internal structures. The robot hand device according to claim 1 , wherein the form restraint region is provided in the central portion of the gripping body, and the force restraint region is provided in the tip portion of the gripping body. apparatus. The robot hand device according to claim 1 , wherein the morphological restraint region is provided in the central portion of the gripping main body, and the force restraint region is provided on both side portions in the width direction of the gripping main body. Robot hand device. In a robot hand device provided on a base portion and gripping an object by first and second hand portions facing each other at intervals.
The first and second hand portions are provided on the base portion via a position adjusting means for adjusting the distance between the first and second hand portions.
The gripping means used for either one or both of the first and second hand portions has a gripping body made of a wear-resistant material made of rubber or resin, and the gripping body has the object and the object. From the contact surface side to the back surface side, the morphological restraint region that elastically deforms to restrain the object according to the surface shape of the object and the morphological restraint region has higher rigidity than the morphological restraint region and grips the object. and it is sequentially provided with a force restraining area for restraining it, the form closure region and said force restraining region is constituted by the wear-resistant material made of the same material which together continuously connected, and the said form closure region A robot hand device that is classified by changing the density of the wear-resistant material, the thickness of the contact surface side with the object, and one or two or more of the internal structures. In a gripping means provided on a robot hand device and used for one or both of the first and second hand portions facing each other at intervals, which sandwich an object from both sides thereof.
It has a gripping body made of a wear-resistant material made of rubber or resin, and the gripping body is elastically deformed on the contact surface side with the object in accordance with the surface shape of the object. a form closure region to restrain, said form closure region higher rigidity as compared with the object and the force restraining area for gripping to restraint provided, said form closure region and said force restraining region, articulated The density of the wear-resistant material in the form-constrained region, the thickness of the contact surface side with the object, and one or more of the internal structures, which are integrally formed of the wear-resistant material of the same material. A gripping means used in a robot hand device, characterized in that it is classified by modification. In the gripping means used in the robot hand device according to claim 5 , the form restraint region is provided in the central portion of the gripping body, and the force restraint region is provided in the tip portion of the gripping body. A gripping means used in a characteristic robot hand device. In the gripping means used in the robot hand device according to claim 5 , the form restraint region is provided in the central portion of the gripping body, and the force restraint region is provided in both side portions in the width direction of the gripping body. A gripping means used in a robot hand device. In a gripping means provided on a robot hand device and used for one or both of the first and second hand portions facing each other at intervals, which sandwich an object from both sides thereof.
It has a gripping body made of a wear-resistant material made of rubber or resin, and the gripping body is elastically deformed from the contact surface side to the back surface side of the object in accordance with the surface shape of the object. A morphological restraint region that restrains the object and a force restraint region that has higher rigidity than the morphological restraint region and grips and restrains the object are sequentially provided, and the morphological restraint region and the force restraint region are sequentially provided. 1 bets is constituted by the wear-resistant material made of the same material which together continuously connected, and the density of the wear resistant material of the form closure region, the contact surface side of the thickness of the object, and, the internal structure Alternatively, a gripping means used in a robot hand device, which is classified by changing two or more.

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