JP6969510B2 - Work gripping device - Google Patents

Description

The present invention relates to a work gripping device for gripping a work.

Conventionally, in a gripping device used for a robot hand or the like, a gripping force is set according to the mass and shape of a work which is an object. For example, assuming that a work having a large mass or a work having a complicated shape is handled, the gripping force by the gripping body is set so that the work can be reliably gripped. However, such a structure that utilizes only the gripping force of the gripping body has a problem that the device cost becomes high because the device becomes large. In order to keep the device cost low, it is preferable to construct a gripping device that can reliably grip the work even with a relatively small gripping force by the gripping body.

Therefore, the robot hand device disclosed in Patent Document 1 can be adopted. This robot hand device includes a pair of grip bodies for gripping a work, and a flexible bag body fixed to each grip body and filled with a gel-like fluid. In this robot hand device, the bag body is configured so that when the work is gripped, the gel-like fluid is deformed to form a gripping surface that resembles the outer surface shape of the work.

Japanese Unexamined Patent Publication No. 2012-148380

According to the robot hand device described above, since the gripping surface of the bag body can be deformed according to the shape of the outer surface of the work, the entire work can be gripped by the bag body with a substantially uniform load. In this case, the force required to grip the work is smaller than that of the structure using only the gripping force of the gripping body, and the work can be reliably gripped even with a relatively small gripping force. Therefore, it is not necessary to increase the size of the device, which is effective in reducing the device cost.

However, it is difficult to hold the work in a fixed position with respect to the bag because the bag can be easily deformed by the flow of the gel-like fluid even when the work is gripped by an external load or the like. Therefore, this robot hand device has a problem that it is difficult to stably handle the work gripped by the bag body.

The present invention has been made in view of such a problem, and an object of the present invention is to provide a work gripping device capable of gripping a work with a small gripping force and stably handling the work.

One aspect of the present invention is
With multiple grips for gripping the work,
A drive unit that drives the plurality of grip portions from the pinch release position to the pinch position, and
Equipped with
Each of the plurality of gripping portions includes a gripping pad in which a plurality of polyhedral particles are packed in a compacted state in a bag body, a housing that receives the gripping pad, and a holding case that presses the gripping pad between the housing. Have,
A collar is provided on the outer circumference of the bag body.
The holding case is provided with an opening.
The gripping pad is attached in a state where the collar portion of the bag body is sandwiched between the housing and the holding case, and the holding pad is passed through the opening of the holding case on the side opposite to the housing from the collar portion. Work gripping device, which has a part exposed to the outside
It is in.

In the work gripping device described above, the plurality of gripping portions are moved from the pinching release position to the pinching position by the driving portion. The plurality of gripping portions sandwich and grip the work via the gripping pad at the sandwiching position. The bag body of this gripping pad is filled with a plurality of polyhedral particles in a compacted state. Here, each of the plurality of polyhedral particles is a granular member surrounded by a plurality of planes, and is filled in the bag in a compacted state in which the polyhedral particles adjacent to each other are pressed in the direction of close contact with each other.

Therefore, when the gripping pad does not grip the work, the gripping pad can be fixed in a constant shape by the sliding resistance generated between the planes of the plurality of polyhedral particles. On the other hand, when the gripping pad grips the work, a plurality of polyhedral particles located close to the work receive a load exceeding the sliding resistance and move preferentially in the bag body, while the work. The polyhedral particles located far from the bag stay at that position with almost no movement in the bag due to the sliding resistance between the polyhedral particles and the adjacent polyhedral particles.
That is, since the plurality of polyhedral particles are in contact with each other on the planes and the sliding resistance is larger than that of the spherical particles, only the plurality of polyhedral particles located near the work move locally, and all the polyhedra. It is possible to prevent the particles from moving and changing the shape of the entire gripping pad. As a result, the gripping surface of the bag body of the gripping pad easily changes to a shape that follows the surface shape of the work.

At this time, when the gripping force is applied to the work, the gripping surface receives a load from the work and changes to a shape that follows the surface shape of the work, so that the entire work is gripped with a substantially uniform load. can do. Therefore, the force required to grip the work is smaller than that of the structure using only the gripping force, and the work can be reliably gripped even with a relatively small gripping force. By using such a gripping pad, it is not necessary to increase the size of the device, which is effective in reducing the device cost.

Further, the gripping pad is fixed in a fixed shape once the work is gripped. Therefore, the gripping pad is not easily deformed even when the work is gripped and is subjected to an external load or the like, and the work can be held at a fixed position. Therefore, the work gripped via the gripping pad can be handled stably.

As described above, according to the above aspect, it is possible to provide a work gripping device capable of gripping a work with a small gripping force and stably handling the work.

The side view which shows the whole structure of the work gripping apparatus of Embodiment 1. FIG. FIG. 1 is a cross-sectional view taken along the line II-II. FIG. 3 is a perspective view of the first grip portion in FIG. A front view of FIG. 3 as viewed from the direction of arrow A. FIG. 4 is a cross-sectional view taken along the line V-V of FIG. A perspective view schematically showing a part of a plurality of polyhedral particles packed in a compacted state in a bag of a gripping pad. FIG. 3 is a cross-sectional view showing a state when the first gripping portion and the second gripping portion in FIG. 1 are in the pinching release position. FIG. 3 is a cross-sectional view showing a state when the first grip portion and the second grip portion in FIG. 1 are in the sandwiching position. The perspective view of the work gripping apparatus of Embodiment 2. FIG. 5 is a cross-sectional view of the work gripping device of the third embodiment corresponding to FIG.

A preferred embodiment of the above embodiment will be described.

In the present embodiment, the "polyhedral particle" refers to a particle having a shape surrounded by substantially four or more planes or curved surfaces. Such polyhedral particles are composed of sides that connect a plurality of vertices linearly or curvedly, and a plane or curved surface surrounded by the sides.

In the work gripping device, the gripping pad is made of an elastic material having elasticity in the bag body, and is configured such that the plurality of polyhedral particles are packed in a compacted state by the elasticity of the bag body. preferable.

According to this work gripping device, a plurality of polyhedral particles can be consolidated by utilizing the elasticity of the bag itself. That is, the bag body has both a function of accommodating a plurality of polyhedral particles and a function of consolidating the plurality of polyhedral particles. In this case, it is not necessary to separately prepare means for consolidating the plurality of polyhedral particles, and the structure of the work gripping device can be simplified.

In the work gripping device, the plurality of polyhedral particles are preferably composed of the same type of regular polyhedral particles.

According to this work gripping device, by making the plurality of polyhedral particles into regular polyhedral particles of the same type, the fluidity of the entire plurality of polyhedral particles can be increased and the fluidity can be made uniform. Thereby, regardless of the position of the gripping surface of the bag body of the gripping pad, the shape of the gripping surface can be made to follow the surface shape of the work in the same manner.

In the work gripping device, each of the plurality of gripping portions has a housing for receiving the gripping pad, and the housing is the side of the bag body of the gripping pad opposite to the gripping surface for the work. It is preferable that the facing surface facing the back surface of the housing is recessed in a curved shape with respect to the gripping pad.

According to this work gripping device, when the gripping pad grips the work, the housing can receive the load input from the gripping pad by the curved facing surface. Therefore, a plurality of polyhedral particles in the bag can be guided along the facing surfaces of the housing, and it is easy to uniformly disperse the particles in the bag.

The work gripping device includes a first grip portion and a second grip portion as the plurality of grip portions, a first arm fixed to the housing of the first grip portion, and a housing of the second grip portion. A second arm fixed to the above, and at least one of the first arm and the second arm is slid by the drive unit, whereby the grip pad and the second arm of the first grip portion are used. It is preferable that the grip portion is configured so that the relative position with respect to the grip pad is switched.

According to this work gripping device, the work is sandwiched between the gripping pad of the first gripping portion and the gripping pad of the second gripping portion by utilizing the structure in which at least one of the first arm and the second arm slides by the drive portion. It becomes possible to grip and release this grip.

The work gripping device includes a first grip portion and a second grip portion as the plurality of grip portions, a first arm fixed to the housing of the first grip portion, and a housing of the second grip portion. A second arm fixed to the above, and at least one of the first arm and the second arm is rotated about a rotation axis by the drive unit, whereby the first grip portion is gripped. It is preferable that the pad is configured so that the relative position between the pad and the grip pad of the second grip portion is switched.

According to this work gripping device, the gripping pad and the second gripping portion of the first gripping portion utilize a structure in which at least one of the first arm and the second arm is rotated about the rotation axis by the driving portion. It is possible to grip the work by sandwiching it with the grip pad and to release the grip.

In the work gripping device, it is preferable that each of the plurality of gripping portions has a cover member that covers the bag body of the gripping pad.

According to this work gripping device, the durability of the bag body of the gripping pad can be improved by using the cover member.

Hereinafter, embodiments of the work gripping device according to the present invention will be described with reference to the drawings.

In the drawing for explaining the work gripping device, the first direction in the horizontal direction is indicated by an arrow X, the second direction in the horizontal direction and orthogonal to the first direction is indicated by an arrow Y, and the first direction is indicated. An arrow Z indicates a third direction orthogonal to both X and the second direction Y.

(Embodiment 1)
As shown in FIG. 1, the work gripping device 1 holds two gripping portions 10 for gripping the work W and two gripping portions 10 from a pinching release position (“pinching release position P1” described later). It is provided with a drive unit 20 that drives up to (“pinching position P2” described later). Such a work gripping device 1 is suitably used as a robot hand attached to the tip of a robot arm.

Each of the two grip portions 10 covers the housing 11, the holding case 12, the grip pad 14 in which the bag body 15 is filled with a plurality of polyhedral particles C in a compacted state, and the bag body 15 of the grip pad 14. It has a member 17.

The housing 11 is for receiving the gripping pad 14. The holding case 12 holds the gripping pad 14 positioned with respect to the housing 11, and is fastened and fixed to the housing 11 by the bolt member 13 while holding the gripping pad 14.

The bag body 15 of the gripping pad 14 is made of an elastic material having elasticity. Due to the elasticity of the bag body 15, a plurality of polyhedral particles C are packed in the bag body 15 in a compacted state. As the bag body 15, a rubber material having a thickness dimension of about 0.5 to 1.0 mm (for example, nitrile rubber or the like) is typically used. If the thickness dimension of the bag body 15 is too large, the followability to the outer surface shape of the work W tends to decrease, and if it is too small, the durability of the bag body 15 itself due to repeated use tends to decrease. An elastic material other than the rubber material can be used as long as it is an elastic material having the same performance as this rubber material.

The cover member 17 is made of a material having excellent wear resistance and cut resistance and having flexibility that can follow the deformation of the bag body 15. Aramid fibers can be typically used as this material, and the cover member 17 can be configured by a sheet made of aramid fibers having a thickness dimension of about 1.0 to 2.0 mm. A material other than the aramid fiber (for example, polyarylate fiber) can be used as long as the material has the same performance as the aramid fiber.

In each of the two grip portions 10, the bag body 15 has a grip surface 15a facing the sandwiching space S for sandwiching the work W. The gripping surface 15a is a load receiving surface that receives a load from the work W via the cover member 17 when the work W is gripped in the first direction X.

The work gripping device 1 includes a first grip portion 10A and a second grip portion 10B as two grip portions 10, a first arm 5 fixed to a housing 11 of one first grip portion 10A, and a second grip portion of the other. It has a second arm 6 fixed to the housing 11 of the grip portion 10B.

The first arm 5 extends upward from the housing 11 of the first grip portion 10A in the third direction Z and is fixed to the slide member 3. The slide member 3 is slidably engaged with the guide rail 2 in the first direction X. Similar to the first arm 5, the second arm 6 extends upward from the second grip portion 10B housing 11 in the third direction Z and is fixed to the slide member 4. The slide member 4 is slidably engaged with the guide rail 2 in the first direction X.

As shown in FIG. 2, the guide rail 2 includes two engaging protrusions 2a extending parallel to the first direction X. On the other hand, the slide member 3 is provided with two engaging grooves 3a that are slidably engaged with each of the two engaging convex portions 2a of the guide rail 2. As a result, the slide member 3 is slidably supported in the first direction X by the guide rail 2.

Further, although not particularly shown, the slide member 4 is also engaged with the common guide rail 2 by the same structure as the slide member 3. Therefore, the slide member 4 is slidably supported in the first direction X by the guide rail 2.

In addition, in order to keep the sliding resistance of each of the two slide members 3 and 4 low, if necessary, a plurality of bearings (balls) or the like may be provided between the guide rail 2 and the two slide members 3 and 4. It is also possible to carry a rolling element so that it can rotate on its axis.

The drive unit 20 has a known structure for driving the two slide members 3 and 4 so as to change the relative distance in the first direction X. Although not particularly shown, the drive unit 20 drives a link connecting the two slide members 3 and 4 so that the relative distance in the first direction X can be changed, and the two slide members 3 and 4 via the link. It is equipped with an actuator. By sliding the two slide members 3 and 4 in the first direction X by the drive unit 20, the relative positions of the first grip portion 10A and the second grip portion 10B are changed.

Next, the detailed structure of the first grip portion 10A will be described with reference to FIGS. 3 to 6. Since the structure of the second grip portion 10B is the same as that of the first grip portion 10A, the structure of the first grip portion 10A is referred to, so that the description of the structure of the second grip portion 10B is omitted. ..

As shown in FIGS. 3 to 5, in the first grip portion 10A, the grip pad 14 is attached to the housing 11 via the holding case 12. The holding case 12 is configured in a bottomed box shape that is covered so as to surround the housing 11, and is provided with a rectangular opening 12a at the bottom portion. When the gripping pad 14 is attached to the housing 11 by the holding case 12, a part of the gripping pad 14 is exposed to the outside through the opening 12a. The exposed portion of the gripping pad 14 is a gripping portion that substantially grips the work W.

As shown in FIG. 5, the housing 11 has a facing surface 11a of the bag body 15 of the gripping pad 14 facing the back surface 15b opposite to the gripping surface 15a for the work W. The facing surface 11a is recessed in a curved shape with respect to the gripping pad 14. The gripping pad 14 is positioned with respect to the housing 11 by the facing surface 11a of the housing 11.

A flange-shaped flange portion 15c is provided on the outer periphery of the gripping pad 14. The gripping pad 14 is attached by fastening and fixing the housing 11 and the holding case 12 with a bolt member 13 in a state where the flange portion 15c is sandwiched between the housing 11 and the holding case 12 in the first direction X.

Each of the plurality of polyhedral particles C filled in the internal space 16 of the bag body 15 is a granular member surrounded by a plurality of planes Ca. In the present embodiment, the plurality of polyhedral particles C are composed of regular polyhedral particles of the same type, specifically, regular dodecahedron particles having the same dimensions formed by a regular pentagon in which all 12 planes Ca are congruent. ing. The plane Ca of the polyhedral particles C may be microscopically rounded, or the boundaries and vertices of the planes Ca may include curved surfaces.

As shown in FIG. 6, the bag 15 is filled in a compacted state in which the polyhedral particles C are pressed in a direction in which they are in close contact with each other. At this time, two polyhedral particles C adjacent to each other are in contact with each other on the plane Ca. Therefore, when these two polyhedral particles C move relative to each other, a sliding resistance is generated between the planes Ca.

It is preferable that the polyhedral particles C have a strength that is not easily damaged by collision or sliding with another polyhedral particle C, and are lightweight so that they can easily flow in the internal space 16 of the bag body 15. For example, particles made of a hard nylon resin can be used as the polyhedral particles C.

Next, with reference to FIGS. 7 and 8, the operation when the work gripping device 1 grips the work W will be described.

The first grip portion 10A and the second grip portion 10B are moved by the drive unit 20 from the pinch release position P1 (see FIG. 7) to the pinch position P2 (see FIG. 8).

As shown in FIG. 7, when each of the first grip portion 10A and the second grip portion 10B is in the pinch release position P1, the distance in the first direction X of the pinch space S between the two grip pads 14 is expanded. Has been done. At this time, the work W is arranged in the sandwiching space S. Alternatively, the first grip portion 10A and the second grip portion 10B are arranged with respect to the work W.

Each of the bag bodies 15 of the two gripping pads 14 is filled with a plurality of polyhedral particles C in a compacted state. Therefore, when the gripping pad 14 does not grip the work W, the gripping pad 14 can be fixed in a constant shape by the sliding resistance generated between the planes Ca of the plurality of polyhedral particles C. ..

Then, as shown in FIG. 8, the first arm 5 and the second arm 6 are slid by the drive unit 20 so as to approach each other in the first direction X, so that the first grip portion 10A and the second grip portion 10B Each moves from the pinch release position P1 to the pinch position P2. As a result, the relative positions of the grip pad 14 of the first grip portion 10A and the grip pad 14 of the second grip portion 10B are switched, and the grip surface 15a of the bag body 15 of one grip pad 14 and the grip pad 14 of the other are switched. The distance of the sandwiching space S in the first direction X is reduced until the work W is sandwiched by the gripping surface 15a of the bag body 15.

As a result, the first grip portion 10A and the second grip portion 10B sandwich and grip the work W via the bag body 15 of the grip pad 14 at the sandwiching position P2. When the bag body 15 of the gripping pad 14 grips the work W, a plurality of polyhedral particles C located near the work W receive a load exceeding the sliding resistance and move preferentially in the bag body 15, and the polyhedral particles C move preferentially in the bag body 15. On the other hand, the polyhedral particles C located far from the work W stay at that position with almost no movement in the bag 15 due to the sliding resistance between the polyhedral particles C and the adjacent polyhedral particles C.

That is, since the plurality of polyhedral particles C are in contact with each other and the sliding resistance is larger than that of the spherical particles, only the plurality of polyhedral particles C located near the work W move locally. , It is possible to prevent all the polyhedral particles C from moving and changing the shape of the entire gripping pad 14. As a result, the gripping surfaces 15a of the bag bodies 15 of the two gripping pads are easily changed to a shape that follows the surface shape of the work W.

At this time, when the gripping force is applied to the work W, the gripping surface 15a of the bag body 15 receives a load from the work W and changes to a shape that follows the surface shape of the work W. By doing so, the entire work W can be gripped with a substantially uniform load. Therefore, the force required to grip the work W is smaller than that of the structure using only the gripping force, and the work W can be reliably gripped even with a relatively small gripping force. By using such a gripping pad 14, it is not necessary to increase the size of the device, which is effective in reducing the device cost.

Further, both of the two gripping pads 14 are fixed in a fixed shape once the work W is gripped. Therefore, the two gripping pads 14 are not easily deformed even when the work W is gripped and is subjected to an external load or the like, and the work W can be held at a fixed position. Therefore, the work W gripped via the two gripping pads 14 can be stably handled.

According to the above-mentioned first embodiment, the following effects can be obtained.

It is possible to provide a work gripping device 1 capable of gripping a work W with a small gripping force and stably handling by filling each bag body 15 of the two gripping pads 14 with a plurality of polyhedral particles C in a compacted state. can. Such a work gripping device 1 has a simple structure and is effective in keeping the device cost low.

According to the work gripping device 1 described above, the plurality of polyhedral particles C can be consolidated by utilizing the elasticity of the bag body 15 itself. That is, the bag body 15 has both a function of accommodating a plurality of polyhedral particles C and a function of consolidating the plurality of polyhedral particles C. In this case, it is not necessary to separately prepare means for consolidating the plurality of polyhedral particles C, and the structure of the work gripping device 1 can be simplified.

According to the work gripping device 1 described above, by making the plurality of polyhedral particles C into regular polyhedral particles of the same type, the fluidity of the entire plurality of polyhedral particles C can be enhanced and the fluidity can be made uniform. .. Thereby, regardless of the position of the gripping surface 15a of the bag body 15 of the gripping pad 14, the shape of the gripping surface 15a can be made to follow the surface shape of the work W in the same manner.

According to the work gripping device 1 described above, when the gripping pad 14 grips the work W, the housing 11 can receive the load input from the gripping pad 14 by the curved facing surface 11a. Therefore, the plurality of polyhedral particles C in the bag body 15 can be guided along the facing surface 11a of the housing 11, and it is easy to uniformly disperse the polyhedral particles C in the bag body 15.

According to the work gripping device 1, the gripping pad 14 of the first gripping portion 10A and the gripping pad of the second gripping portion 10B are used by utilizing the structure in which the first arm 5 and the second arm 6 are slid by the drive unit 20. It is possible to sandwich and grip the work W at 14, and to release the grip.

According to the work gripping device 1 described above, the durability of the bag body 15 of the gripping pad 14 can be improved by using the cover member 17.

As a modification particularly related to the work gripping device 1 of the above-described first embodiment, a structure in which either one of the first arm 5 and the second arm 6 slides by the drive unit 20 can be adopted.

(Embodiment 2)
As shown in FIG. 9, in the work gripping device 101 of the second embodiment, the movement of the plurality of gripping portions 10 when gripping the work W is different from that of the work gripping device 1 of the first embodiment.
Other configurations are the same as those in the first embodiment.

The work gripping device 101 has brackets on the housings 11 of the two first gripping portions 10A, the one second gripping portion 10B, and the two first gripping portions 10A, which are arranged at a distance in the second direction Y. The first arm 105 fixed via 102, the second arm 106 fixed to the housing 11 of the second grip portion 10B, and the second arm 106 with respect to the first arm 105 centered on the rotation shaft 103. It includes a drive unit 120 including a rotating actuator. When the work gripping device 101 is viewed in the third direction Z, the second gripping portion 10B is arranged at an intermediate position between the two first gripping portions 10A.

In the work gripping device 101, the second arm 106 is rotated by the drive unit 120 so as to approach the first arm 105 about the rotation shaft 103, so that the second grip portion 10B is pinched from the pinching release position P1. Move to P2. As a result, as in the case of the first embodiment, the relative positions of the respective grip pads 14 of the two first grip portions 10A and the grip pads 14 of the second grip portions 10B are switched.

According to the work gripping device 101 of the second embodiment, the two first gripping portions utilize the structure in which the second arm 106 is rotated about the rotation shaft 103 by the driving portion 120 with respect to the first arm 105. The work W can be sandwiched and gripped by the respective gripping pads 14 of 10A and the gripping pads 14 of the second gripping portion 10B, and the gripping can be released. The work gripping device 101 is effective in gripping the elongated work W extending in the second direction Y.
Other than that, it has the same effect as that of the first embodiment.

As a modification particularly related to the work gripping device 101 of the second embodiment described above, it is also possible to adopt a structure in which both the first arm 105 and the second arm 106 are rotated about the rotation shaft 103 by the drive unit 120. can.

(Embodiment 3)
As shown in FIG. 10, in the work gripping device 201 of the third embodiment, the means for filling the bag body 15 with the plurality of polyhedral particles C in a compacted state is different from that of the work gripping device 201 of the first embodiment. ing.
Other configurations are the same as those in the first embodiment.

The work gripping device 201 includes an adjusting unit 30 for adjusting the compaction state of the plurality of polyhedral particles C filled in the bag body 15. The adjusting unit 30 includes a pressure control device 31 and a connecting pipe 32 for connecting the pressure control device 31 to the internal space 16 of the bag body 15.

The pressure control device 31 can reduce the pressure of the internal space 16 by sucking the air in the internal space 16 of the bag body 15 through the connecting pipe 32, or air is sent to the internal space 16 of the bag body 15 through the connecting pipe 32. It is configured so that the pressure of the internal space 16 can be increased by supplying the pressure.

In the work gripping device 201, when the compaction state of the plurality of polyhedron particles C formed by the elasticity of the bag body 15 itself is used as a reference state, the pressure control device 31 sucks the air in the internal space 16 through the connecting pipe 32. Will form a higher compaction state than the reference state. Further, the pressure control device 31 supplies air to the internal space 16 through the connecting pipe 32, so that a consolidation state lower than the reference state is formed. When the bag body 15 is in a high consolidation state, the gripping surface 15a is relatively difficult to be deformed, and when the bag body 15 is in a low consolidation state, the gripping surface 15a is relatively easy to be deformed.

According to the work gripping device 201 of the third embodiment, the compaction state of the plurality of polyhedral particles C filled in the bag body 15 can be appropriately adjusted according to the conditions such as the shape and dimensions of the work W.
Other than that, it has the same effect as that of the first embodiment.

As a modification particularly related to the work gripping device 201 of the third embodiment described above, instead of the bag body 15 made of a rubber material, a bag made of a material having lower elasticity or less elasticity than the rubber material, for example, a resin material. You can also adopt the body. In this case, only the adjusting unit 30 is responsible for forming the compacted state of the plurality of polyhedral particles C.
Further, the structure of the adjusting unit 30 of the work gripping device 201 can be applied to the work gripping device 1 of the above-described first embodiment and the work gripping device 101 of the second embodiment, if necessary.

The present invention is not limited to the above-described embodiment of the present invention, and various applications and modifications can be considered as long as the object of the present invention is not deviated. For example, the following embodiments to which the present embodiment is applied can also be implemented.

In the above-described embodiment, the case where the number of gripping portions 10 in the work gripping devices 1, 101, 201 is two or three has been illustrated, but the number of gripping portions 10 is not limited to this, and is necessary. The number of gripping portions 10 may be four or more depending on the situation.

In the above-described embodiment, the case where the plurality of polyhedral particles C are composed of regular dodecahedron particles having the same dimensions is illustrated, but each of the plurality of polyhedral particles C is substantially four or more planes or curved surfaces. Any particles having a shape surrounded by can be used, and the shape and dimensions of the particles can be appropriately set. For example, a plurality of polyhedral particles C are composed of regular polyhedral particles (regular tetrahedron particles, regular hexahedral particles, regular octahedron particles, regular icosahedron particles) other than regular polyhedral particles having different dimensions and regular polyhedral particles having the same or different dimensions. It can also be composed of polyhedral particles), polyhedral particles other than regular polyhedrons having the same or different dimensions, and the like.

In the above-described embodiment, the case where the facing surface 11a of the housing 11 is recessed in a curved shape with respect to the gripping pad 14 has been exemplified, but the shape of the facing surface 11a of the housing 11 is not limited to this, and the gripping is not limited to this. It can be appropriately changed according to the type and size of the plurality of polyhedral particles C filled in the bag body 15 of the pad 14.

In the above-described embodiment, the case where the cover member 17 covering the bag body 15 of the gripping pad 14 is used has been exemplified, but when the durability of the bag body 15 itself can be ensured without using the cover member 17, this case is described. The cover member 17 may be omitted.

In the above-described embodiment, the case where the work W is sandwiched and gripped by utilizing the sliding movement or the rotating movement of the plurality of gripping portions 10 has been exemplified, but the working W is a combination of the sliding movement and the rotating movement. May be grasped.

1,101,201 Work gripping device 5 1st arm 6 2nd arm 10 gripping part 10A 1st gripping part 10B 2nd gripping part 11 housing 11a facing surface 14 gripping pad 15 bag body 15a gripping surface 15b back surface 17 cover member 20, 120 Drive unit 103 Rotating shaft 105 1st arm 106 2nd arm C Polyhedral particles P1 Pinching release position P2 Pinching position W Work

Claims (7)

With multiple grips for gripping the work,
A drive unit that drives the plurality of grip portions from the pinch release position to the pinch position, and
Equipped with
Each of the plurality of gripping portions includes a gripping pad in which a plurality of polyhedral particles are packed in a compacted state in a bag body, a housing that receives the gripping pad, and a holding case that presses the gripping pad between the housing. Have,
A collar is provided on the outer circumference of the bag body.
The holding case is provided with an opening.
The gripping pad is attached in a state where the collar portion of the bag body is sandwiched between the housing and the holding case, and the holding pad is passed through the opening of the holding case on the side opposite to the housing from the collar portion. A work gripping device having a portion exposed to the outside. The work grip according to claim 1, wherein the gripping pad is made of an elastic material in which the bag body has elasticity, and the plurality of polyhedral particles are packed in a compacted state by the elasticity of the bag body. Device. The work gripping device according to claim 1 or 2, wherein the plurality of polyhedral particles are composed of regular polyhedral particles of the same type. Upper Symbol housing surface facing the back surface opposite to the gripping surfaces for the work of the receptacle of the gripping pad is recessed in a curved shape relative to the gripping pad, claim 1 The work gripping device according to any one of 3. The first grip portion and the second grip portion as the plurality of grip portions, the first arm fixed to the housing of the first grip portion, and the second arm fixed to the housing of the second grip portion. And, by sliding at least one of the first arm and the second arm by the driving unit, the relative between the gripping pad of the first gripping portion and the gripping pad of the second gripping portion. The work gripping device according to any one of claims 1 to 4, which is configured to switch positions. The first grip portion and the second grip portion as the plurality of grip portions, the first arm fixed to the housing of the first grip portion, and the second arm fixed to the housing of the second grip portion. And, by rotating at least one of the first arm and the second arm about the rotation axis by the drive unit, the grip pad and the second grip portion of the first grip portion. The work gripping device according to any one of claims 1 to 4, wherein the position relative to the gripping pad is switched. The work gripping device according to any one of claims 1 to 5 , wherein each of the plurality of gripping portions has a cover member for covering the bag body of the gripping pad.

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