JP7341572B1 - Gripping member, gripping system and gripping method - Google Patents

Abstract

An object of the present invention is to more appropriately perform the work of releasing a gripped object by a gripping member. A gripping member 1 includes an extended portion 21R or an extended portion 32. The gripping member 1 is used to grip an object in a gripping state in which it is in close proximity to or in contact with an opposing member, and in a released state in which it is spaced apart from the opposing member. The expanded portion 21R or the expanded portion 32 is formed at the periphery of the opening in the storage space that accommodates the object to be gripped, and when the object is in the gripping state, the opposing member and the periphery of the opening in the storage space form an opening. In the front direction, which is the direction in which the part faces, the part extends closer to the opposing member than the position facing the part. [Selection diagram] Figure 1

Description

The present invention relates to a gripping member, a gripping system, and a gripping method.

2. Description of the Related Art In recent years, robots have been used for tasks of grasping and transporting objects to be grasped, such as serving lunch boxes.
For example, when a robot performs the task of serving a boxed lunch, the robot repeatedly grasps a predetermined amount of ingredients stored in a container such as a vat, transfers them to a predetermined area within the boxed lunch, and releases them.
Note that a technique for grasping an object to be grasped is described in, for example, Patent Document 1.

Japanese Patent Application Publication No. 2004-017983

However, in conventional techniques for grasping a grasped object, including the technique described in Patent Document 1, the object to be grasped is grasped by closing opposing grasping members, and the grasping members are opened at a desired position. An operation to release the gripped object is performed.
When performing such an operation, although the release state of the gripped object can be controlled to some extent in the direction in which the opposing gripping members open, the gripped object may be irregularly moved laterally to the direction in which the opposing gripping members open. As a result, the object to be gripped, such as the ingredients, may spill out of the container.
Note that such problems are not limited to grasping ingredients for cooking, but also objects made of viscous or sticky materials such as kneaded mortar or concrete, or objects made of aggregates of small objects. This is common to all cases.
That is, in the conventional technology, it is difficult to appropriately release the gripping member from the gripped object.

An object of the present invention is to allow a gripping member to more appropriately perform the work of releasing an object to be gripped.

In order to solve the above problems, a gripping member according to an embodiment of the present invention includes:
A gripping member used for gripping an object to be gripped in a gripping state in which it is in close proximity to or in contact with an opposing member and in a released state in which it is spaced apart from the opposing member,
A direction in which the opposing member and the peripheral edge of the opening in the housing space face when the object to be gripped is placed in the gripping state. It is characterized by comprising an extending portion that extends closer to the opposing member than the position facing in the front direction.

According to the present invention, the work of releasing the object to be gripped by the gripping member can be performed more appropriately.

FIG. 1 is a schematic diagram showing a perspective view of a gripping member 1 according to the present invention. FIG. 3 is a schematic diagram showing how the gripping member 1 is used. FIG. 2 is a schematic diagram showing a specific configuration example of the gripping member 1 shown in FIG. 1. FIG. FIG. 3 is a schematic diagram showing a state in which the gripping member 1 grips an object to be gripped. FIG. 3 is a schematic diagram showing a state in which the gripping member 1 releases the object to be gripped. FIG. 3 is a schematic diagram showing a first configuration example of the gripping member 1. FIG. 7 is a schematic diagram showing a second configuration example of the gripping member 1. FIG. 7 is a schematic diagram showing a third configuration example of the gripping member 1. FIG. FIG. 2 is a schematic diagram showing an example of mounting the gripping member 1 according to the present embodiment on a gripping system S. FIG. FIG. 3 is a schematic diagram showing a configuration example of the gripping member 1 including a top surface portion 30 having a configuration (an expansion portion 32) corresponding to the expansion portion 21R. FIG. 7 is a schematic diagram showing a configuration example of an inwardly curved expanded portion 21R on the accommodation space side of the gripping member 1. FIG. It is a schematic diagram which shows the example of a structure of the holding member 1 which equips the inner wall of the expansion part 21R of 20 R of side plates with the step part V. FIG. 3 is a schematic diagram showing a state in which the gripping member 1 is covered with a cover member B.

Embodiments of the present invention will be described below with reference to the drawings.
[First embodiment]
[composition]
FIG. 1 is a schematic diagram showing a perspective view of a gripping member 1 according to the present invention.
The gripping member 1 in this embodiment is attached to a robot arm or the like, and grips an object to be gripped (for example, a cooking ingredient) by being close to or in contact with an opposing gripping member, and by being separated from the opposing gripping member. It is used in a form that releases the gripped object.
In the gripping member 1 shown in FIG. 1, the front-back direction, left-right direction, and up-down direction are defined as the directions shown in the figure, the direction of the opening of the gripping member is defined as the front direction, and the opposite side is defined as the back direction.

As shown in FIG. 1, the gripping member 1 according to the present invention includes a base member 10 made of a plate-like member with a flat tip (i.e., a flat plate with a straight edge at the tip); It has side plates 20L and 20R provided on the left and right sides, and a top surface portion 30 provided on the upper end of the base material portion 10.
Furthermore, in this embodiment, one of the left and right side plates 20L, 20R is configured to extend further in the front direction of the gripping member than the other. In this embodiment, an example is shown in which the side plate 20R extends further in the front direction than the side plate 20L. Hereinafter, in the side plate 20R, a portion that extends further in the front direction than the side plate 20L will be referred to as an expanded portion 21R. The extended portion 21R constitutes an example of an extended portion in the present invention.

A structure (supporting structure) for a robot arm or the like to support the gripping member 1 is formed on the top surface portion 30 . In the example shown in FIG. 1, in the top section 30, a retreating section 30A in which a part of the periphery of the opening is retreated toward the back side is a support structure, and when supported by a robot arm or the like, the retreating section 30A is It is closed by a support structure provided with an arm or the like. Note that the support structure for supporting the gripping member 1 can take various forms depending on the mechanism of the robot arm or the like.

Further, in this embodiment, the top surface portion 30 is provided with a fixing portion 31 for fixing a cover member such as a vinyl cover that covers the gripping member 1. By covering the gripping member 1 with a cover member and fixing the cover member to the fixing part 31 with a fixing member (such as a magnet or a stopper with an inset structure), it is possible to protect the gripping member 1 from dirt caused by the object to be gripped, etc. By replacing the cover member, the gripping member 1 can be kept clean. Note that the cover member does not necessarily need to be attached to the gripping member 1, but may be attached as appropriate depending on the nature of the object to be gripped, the dirt prevention measures required of the gripping member 1, and the like.

FIG. 2 is a schematic diagram showing how the gripping member 1 is used.
As shown in FIG. 2, when the gripping members 1 are used, by arranging a pair of gripping members 1 facing each other and moving each gripping member 1 with a robot arm or the like, the gripping members 1 can be moved close to each other or The object to be gripped is gripped by bringing them into contact with each other, and the gripping members 1 are separated from each other to release the object to be gripped.
Note that the gripping members used at this time may have the same shape, but the arrangement of the top surface portion 30 can be changed according to the structure in which the gripping member 1 is supported by a robot arm or the like. In the example shown in FIG. 2, the retreating portion 30A and the fixing portion 31 of the pair of gripping members 1 are arranged at opposing positions on the top surface portion 30 (the retreating portion 30A is on the left side in the drawing, and the fixing portion 31 is on the right side in the drawing). It has become.

In addition, when gripping an object by bringing the gripping members 1 close to each other or in contact with each other, the peripheral edge of the accommodation space of the gripping members 1 (the space for accommodating the gripping object) is a part of the gripping members 1 whose front end surfaces face each other. It is in a state in which it faces (here, it is in a state in which it comes into contact with) the peripheral edge of.
Here, when the gripping members 1 are arranged to face each other, the side plate 20R of each gripping member 1 is in a positional relationship facing the side plate 20L of the opposing gripping member 1.
The gripping member 1 in this embodiment has a configuration in which the side plate 20R is expanded and extended further in the front direction than the side plate 20L (configuration having an expanded portion 21R).
Therefore, as shown by the dashed-dotted line in FIG. The positional relationship is such that the side plate 20L is offset (shifted) inward. That is, the side plate 20R of one gripping member 1 and the side plate 20L of the other gripping member 1 have a structure in which they approach and separate while sliding their side surfaces without abutting their end surfaces.
Therefore, in the gripping state, the extended portion 21R extends toward the opposing gripping member from the position where the peripheral edges of the gripping members 1 face each other, and the distance by which the gripping members 1 are separated from each other is reduced. If the length is equal to or less than the length of the expanded portion 21R, the expanded portion 21R will be in a state in which the sides between the gripping members 1 are closed.

[Specific configuration example of gripping member 1]
FIG. 3 is a schematic diagram showing a specific example of the configuration of the gripping member 1 shown in FIG.
In addition, in FIG. 3, six views showing the shape of the gripping member 1 are shown, and according to each direction defined in FIG. 1, (a) a front view, (b) a right side view, and (c) a left side view. (d) top view, (e) bottom view, and (f) rear view.
The gripping member 1 can be used, for example, as a robot hand attached to a robot arm, and a pair of gripping members 1 installed facing each other are driven by the robot arm or the like to perform a gripping operation and a releasing operation. It is something to be carried out.
Note that an example of the usage state of the gripping member 1 shown in FIG. 3 will be described later with reference to FIGS. 4 and 5.

[Effect]
Next, the operation when the gripping member 1 is used will be explained.
FIG. 4 is a schematic diagram showing a state in which the gripping member 1 grips the object to be gripped, and FIG. 5 is a schematic diagram showing a state in which the gripping member 1 releases the object to be gripped.
With the structure described above, after the gripping members 1 are separated from each other and the object to be gripped is positioned between the gripping members 1 in a released state, the gripping members 1 are brought close to each other or in contact with each other as shown in FIG. By keeping the portion closed, the object to be gripped can be gripped.

Furthermore, by separating the gripping members 1 while gripping the object, the object to be gripped can fall from the tip of the base portion 10 (i.e., the lower end of the gripping member 1), as shown in FIG. will be released. At this time, the distance by which the gripping members 1 are separated from each other is within the range of the length of the extended portion 21R. That is, a range in which no gap is formed between the side plate 20R of one gripping member 1 and the front end of the side plate 20L of the opposing gripping member 1 (the end face of the extended portion 21R is spaced apart beyond the position of the end face of the side plate 20L). The gripping members 1 are spaced apart from each other within a range in which the
Therefore, in the case of the usage pattern shown in FIG. 2, when releasing the object to be gripped, the releasing operation is performed in a state where no gap is created between the side plates 20L and 20R of the gripping members 1 facing each other. It is possible to prevent the gripped object from falling to the side. That is, when the grasped object is released, the extended portion 21R functions as a side wall for preventing deviation.

Note that the distance by which the gripping members 1 are separated from each other when releasing the gripping object is determined by the length range of the extended portion 21R (the side plate 20R of one gripping member 1 and the front end of the side plate 20L of the opposing gripping member 1). The extended portion 21R may be spaced apart by a predetermined distance beyond the length range of the extended portion 21R. In other words, when the object to be grasped is a granular object, etc., it is thought that the object to be grasped will not fall if the interval is smaller than the size of the object. It is also possible to separate them.

In addition, in this embodiment, when the gripping members 1 are used, the side plate 20R of one gripping member 1 and the side plate 20L of the other gripping member 1 have a structure in which they approach and separate while sliding their side surfaces. Therefore, the side plates 20L and 20R exhibit the effect of mutually removing the object to be grasped that has adhered between the side plates 20L and 20R of the opposing grasping member 1.
Therefore, according to the gripping member 1 of the present embodiment, since it is possible to suppress the attachment of the gripped object to the gripping member 1, objects other than the specified gripped object may be transferred or the gripped object may fall onto the transfer path. It is possible to reduce the situation where

[Example of configuration of gripping member]
The gripping member 1 having the above-described function can be realized as various configuration examples.
[First configuration example]
FIG. 6 is a schematic diagram showing a first configuration example of the gripping member 1. As shown in FIG.
Note that FIG. 6 schematically shows a top view of the base portion 10 and side plates 20L, 20R of the gripping member 1 cut along a horizontal plane.
As shown in FIG. 6, in the first configuration example, in each of the gripping members 1 used facing each other, one of the left and right side plates 20L, 20R is expanded more in the front direction of the gripping member 1 than the other. It has the same configuration as before.
The configuration of the gripping member 1 shown in FIG. 2 is one type of the configuration example shown in FIG. 6, and the lengths (depths in the opening/closing direction) of the left and right side walls 20L and 20R of one gripping member 1 are asymmetric.
With such a configuration, a gripping mechanism such as a robot hand can be constructed easily and at low cost by using one set of gripping members 1 having the same shape.

[Second configuration example]
FIG. 7 is a schematic diagram showing a second configuration example of the gripping member 1.
Note that FIG. 7 schematically shows a top view of the base portion 10 and side plates 20L, 20R of the gripping member 1 cut along a horizontal plane.
As shown in FIG. 7, in the second configuration example, one of the gripping members 1 used facing each other has longer left and right side plates 20L and 20R than the other gripping member 1 (has a longer depth in the opening/closing direction). The inner width of the gripping member 1 with the longer side plates 20L, 20R (distance between the inner walls of the side plates 20L, 20R) is the outer width of the gripping member 1 with the shorter side plates 20L, 20R (the distance between the inner walls of the side plates 20L, 20R). The structure almost matches the distance between the outer walls.
With such a configuration, the gripping member 1, which is bilaterally symmetrical when viewed from the front, can be configured in two sizes, so that a gripping mechanism such as a robot hand can be configured easily and at low cost.
Further, when installing the gripping member 1 on a robot arm or the like, the gripping member 1 having a smaller width can be assembled into the gripping member 1 having a larger width, so that the robot hand can be easily assembled.

[Third configuration example]
FIG. 8 is a schematic diagram showing a third configuration example of the gripping member 1.
Note that FIG. 8 schematically shows a top view of the base portion 10 and side plates 20L, 20R of the gripping member 1 cut along a horizontal plane.
As shown in FIG. 8, in the third configuration example, a plate-like member 22 corresponding to an extended portion 21R is installed on a gripping member 1 of the same shape whose peripheral edges of the openings contact each other and are in a closed state. The structure is as follows.
For example, a gripping member 1 having a configuration that does not include the conventionally used extension part 21R is prepared, and a plate-like shape corresponding to the extension part 21R is attached to the gripping member 1 by various installation methods such as pasting, welding, or fitting. A member 22 can be provided.
In addition, regarding which side plate 20L, 20R of the pair of gripping members 1, the plate-like member 22 corresponding to the extension part 21R is installed, the same form as the above-mentioned first configuration example or the second configuration may be used. The functions of the extension section 21R can be implemented in various forms, such as a form similar to the example.
With such a configuration, the functions of the gripping member 1 according to the present invention can be realized by processing a general-purpose gripping member, so that a gripping mechanism such as a robot hand can be constructed easily and at low cost.

[Example of implementation as a gripping system]
FIG. 9 is a schematic diagram showing an example of mounting the gripping member 1 according to this embodiment on the gripping system S.
As shown in FIG. 9, the gripping member 1 according to this embodiment can be configured as a robot hand that is attached to a robot arm such as an articulated robot.
In FIG. 9, the gripping system S includes an articulated robot 100 and a control device 200 that controls the articulated robot 100. The gripping system S can be configured, for example, as a system for separating ingredients for cooking, and performs an operation of gripping a predetermined amount of ingredients from a container containing the ingredients, transferring it to the position of the lunch container, and releasing it. .
A pair of gripping members 1 are installed as robot hands at the tip of the articulated robot 100, and when the articulated robot 100 brings the pair of gripping members 1 close to, in contact with, or apart from each other, Capable of gripping and releasing ingredients.
Note that the configuration of the gripping member 1 installed at the tip of the articulated robot 100 may be any of the configuration examples listed above.

After the articulated robot 100 grasps a predetermined amount of ingredients from the container and transfers them to the position of the lunch container, the pair of gripping members 1 are separated to release the ingredients at a predetermined location of the lunch container.
At this time, the articulated robot 100 separates the gripping members 1 from each other within the length range of the extended portion 21R. That is, in the articulated robot 100, a range in which no gap is formed between the side plate 20R of one gripping member 1 and the front end of the side plate 20L of the opposing gripping member 1 (for example, the end face of the extended portion 21R is The gripping members 1 are separated from each other within a range that does not exceed the position of the end face.
Therefore, when releasing the ingredients, the releasing operation is performed without creating a gap between the side plates 20L and 20R of the opposing gripping members 1, resulting in a situation where the ingredients spill out to the side of the gripping members 1. can be prevented.

[Modification 1]
In the embodiment described above, an example has been described in which the length of the side plate of the gripping member 1 is expanded to prevent the object to be gripped from falling to the side, but the present invention is not limited to this.
That is, when the gripping member 1 releases the gripped object, a structure corresponding to the extended portion 21R can be provided in a direction in which the gripped object may fall.
As an example, it is possible to provide the top surface portion 30 of the gripping member 1 with a configuration corresponding to the extended portion 21R.
FIG. 10 is a schematic diagram illustrating an example of the configuration of the gripping member 1 that includes a configuration (extended portion 32) corresponding to the expanded portion 21R on the top surface portion 30. As shown in FIG.
FIG. 10 shows an example in which, in the gripping member 1 shown in FIG. 1, the extended portion 32 is installed in a portion of the top surface portion 30 where the fixing portion 31 is installed (that is, in a range other than the retreated portion 30A). Note that the extension portion 32 constitutes an example of an extension portion in the present invention.

In the case of the configuration shown in FIG. 10, when the opposing gripping members 1 are in the gripping state, the end surfaces of the top surface portions 30 are close to or in contact with each other, so that the lower surface of the top surface portion 30 is shifted from the height of the top surface portion 30. A plate-shaped extension portion 32 is installed in the.
In such a configuration, the gripping member 1 on the opposing side is not provided with the expansion part 32, and in the gripping state, the expansion part 32 enters the space below the top surface part 30.
Further, in the gripping member 1 on the opposing side, it is also possible to install the expansion portion 32 below the top surface portion 30 while ensuring a space for receiving the expansion portion 32 of the opposing gripping member 1. .

In this case, in the gripping state, the expanded portions 32 of the opposing gripping members 1 have a structure that fits within each other's accommodation space, and when the gripping members 1 are separated from each other, they are separated by up to twice the length of the expanded portions 32. Also, the upper part of the gripping member 1 can be closed by the expansion part 32.
When the object to be grasped has viscosity or adhesiveness and the robot arm or the like moves the grasping member 1 up and down with a certain force to release the object to be grasped, there is a possibility that the object to be grasped may fly upward.
In such a case, as shown in FIG. 10, by providing the extension part 32 on the top surface part 30, even if the pair of gripping members 1 are moved up and down in an open state, the object to be gripped will not scatter upward. situations can be prevented.
In addition, although FIG. 10 shows an example in which the extension part 32 is not installed in the range of the retreating part 30A of the top surface part 30, the support structure of the robot arm etc. is such that there is no problem even if the extension part 32 is installed. If there is, the extended portion 32 may be installed up to the range of the retreated portion 30A.

[Modification 2]
In the embodiment described above, the side plates 20L and 20R are described as having a flat shape, but the shape is not limited to this.
That is, the side plates 20L and 20R can have a configuration other than a flat shape.
As an example, the extended portion 21R of the side plate 20R may be formed of a flexible member, and the extended portion 21R may be curved inward toward the housing space of the gripping member 1.
FIG. 11 is a schematic diagram showing a configuration example of an inwardly curved expanded portion 21R on the side of the accommodation space of the gripping member 1. As shown in FIG.
Note that FIG. 11 schematically shows a top view of the base portion 10 and side plates 20L, 20R of the gripping member 1 cut along a horizontal plane.
In FIG. 11, the side plates 20L and 20R are thinner than the structure shown in FIG. 1, and have a flexible structure.
In the case of the configuration shown in FIG. 11, when attaching the pair of gripping members 1 to the robot arm, the extended portion 21R can be pushed out and brought into contact with the outer wall of the side plate 20L. Then, the pair of gripping members 1 can move while abutting the outer walls of the respective side plates 20L at the tips of the expanded portions 21R of the side plates 20R.
Therefore, even if an object to be grasped adheres to the outer wall of the side plate 20L, the tip of the extended portion 21R will remove the object to be grasped, so that attachment of the object to be grasped to the gripping member 1 can be suppressed. It is possible to reduce situations in which objects other than the specified objects to be grasped are transferred or objects to be grasped fall onto the transfer route.

Further, as an example, the inner wall of the expanded portion 21R of the side plate 20R may be provided with a stepped portion that comes into contact with the opening periphery of the opposing gripping member 1 (end surface of the side plate 20L).
FIG. 12 is a schematic diagram showing a configuration example of the gripping member 1 including a stepped portion V on the inner wall of the extended portion 21R of the side plate 20R.
As shown in FIG. 12, when the inner wall of the extended portion 21R of the side plate 20R is configured to have a stepped portion V, the edges of the openings of the opposing gripping members 1 may come into contact with each other with their end surfaces in the gripping state. Become.
Therefore, it is possible to reduce the space on the inner wall of the extended portion 21R where the object to be gripped adheres, and it is possible to reduce measurement errors caused by excess objects to be gripped attached to the gripping member 1.

[Modification 3]
In the embodiment and each configuration example described above, the gripping member 1 can be covered with a cover member such as a vinyl cover.
The gripping member 1 in the above-described embodiments and configuration examples is provided with a fixing portion 31 on the top surface portion 30 for fixing a cover member such as a vinyl cover that covers the gripping member 1.
This cover member can be adapted to each shape of the gripping member 1 to cover the entirety including the extended portion 21R.

FIG. 13 is a schematic diagram showing a state in which the gripping member 1 is covered with the cover member B.
As shown in FIG. 13, by covering the extended portion 21R, including the extended portion 21R, with a thin member (such as vinyl) that does not impede the relative movement between the extended portion 21R and the side plate 20R, the gripping member 1 is protected against the object to be gripped, etc. Not only can it be protected from dirt, but also the gripping member 1 can be kept clean by replacing the cover member.
Note that by fixing the cover member to the fixing portion 31 with a fixing member T (a magnet, a stopper with a fitting structure, etc.), the cover member can be easily replaced.

As described above, the gripping member 1 in this embodiment includes the extended portion 21R or the extended portion 32.
The gripping member 1 is used to grip an object to be gripped, in a gripping state in which it is close to or in contact with an opposing member, and in a released state in which it is spaced apart from the opposing member.
The expanded portion 21R or the expanded portion 32 is formed at the periphery of the opening in the storage space that accommodates the object to be gripped, and when the object is in the gripping state, the opposing member and the periphery of the opening in the storage space form an opening. The part extends closer to the opposing member than the position facing in the front direction, which is the direction in which the part faces.
As a result, when releasing the gripped object, the release operation is performed with at least a portion of the periphery of the storage space closed, so that it is possible to prevent the gripped object from spilling around the gripping member 1. can.
Therefore, the work of releasing the object to be gripped by the gripping member can be performed more appropriately.

The expansion portion 21R is provided on the side of the peripheral edge of the opening, and closes the side of the opening of the accommodation space in the open state.
As a result, when releasing the gripped object, the release operation can be performed with the sides of the periphery of the storage space closed, and a situation in which the gripped object spills out to the side of the gripping member 1 can be prevented. I can do it.

The expansion part 32 is provided at the upper part of the periphery of the opening, and closes the upper part of the opening of the accommodation space in the open state.
Thereby, even if the gripping member 1 is moved up and down when releasing the gripped object, it is possible to prevent the gripped object from scattering upward.

The expanded portion 21R is provided on one of the left and right sides of the peripheral edge of the opening.
Thereby, by using one set of gripping members 1 having the same shape, the gripping mechanism can be constructed simply and at low cost.

The expanded portion 21R is provided on both the left and right sides of the peripheral edge of the opening.
As a result, the gripping member 1, which is symmetrical when viewed from the front, can be configured in two sizes, so that a gripping mechanism such as a robot hand can be configured easily and at low cost.

The expanded portion 21R is made of a flexible material and has an inwardly curved shape with the tip facing the accommodation space.
Thereby, it becomes possible to remove the object to be grasped attached to the opposing member by the tip of the extended portion 21R.

The expanded portion 21R includes a stepped portion V on the inner wall that comes into contact with the opposing member.
Thereby, it is possible to reduce the space on the inner wall of the extended portion 21R, in which the object to be gripped adheres, and it is possible to reduce measurement errors caused by excessive objects to be gripped attached to the gripping member 1.

The gripping member 1 includes a cover member that covers the gripping member 1.
Thereby, the gripping member 1 can be protected from dirt caused by the object to be gripped, and by replacing the cover member, the gripping member 1 can be kept in a clean state.

Note that the above-described embodiments and modified examples are examples of embodiments of the present invention, and various embodiments that realize the functions of the present invention are included within the scope of the present invention.
For example, in the above-described embodiments and modifications, the case where the present invention is applied to a serving system for separating delicatessen items has been described as an example, but the present invention can also be applied to a system for grasping various objects. . For example, the present invention can be applied to a system that grips an object made of a viscous or sticky material such as kneaded mortar or concrete, or an object made of an aggregate of small objects.
Moreover, it is possible to implement the present invention by appropriately combining the forms described in the above-described embodiments, configuration examples, and modified examples.
Furthermore, in this specification, the term system refers to an overall device composed of a plurality of devices, a plurality of means, and the like.

The above embodiment shows an example of applying the present invention, and does not limit the technical scope of the present invention. That is, the present invention can be modified in various ways, such as omissions and substitutions, without departing from the gist of the present invention, and various embodiments other than the above-described embodiments can be adopted. Various embodiments and modifications thereof that the present invention can take are included within the scope of the invention described in the claims and its equivalents.

1 Gripping member, 10 Base material part, 20L, 20R Side plate, 21R, 32 Expansion part, 30 Top part, 30A Retraction part, 31 Fixed part, 100 Articulated robot, 200 Control device, B Cover member, S Gripping system, T Fixed member, V step part

Claims (12)

A gripping state in which the peripheral edge of the opening in the storage space that accommodates the object to be gripped is close to or in contact with the opposing member; and a storage space that is further away from the opposing member than in the gripping state and that accommodates the object to be held. A gripping member used for gripping an object in a released state in which the object to be gripped is not accommodated ,
A direction in which the opposing member and the peripheral edge of the opening in the housing space face when the object to be gripped is placed in the gripping state. an extending portion that extends closer to the opposing member than the facing position in the front direction ;
The gripping member is characterized in that the extension part suppresses the object to be gripped inside the storage space from falling in the direction in which the extension part is located in the released state. The gripping member according to claim 1, wherein the extending portion is provided on a side of a peripheral edge of the opening, and closes a side of the opening of the accommodation space in the released state. The gripping member according to claim 1 or 2, wherein the extending portion is provided at an upper portion of the peripheral edge of the opening and closes an upper portion of the opening of the accommodation space in the released state. 3. The length of the extending portion extending from the peripheral edge of the opening is longer than the distance between the opening and the opposing member in the released state. The gripping member described. The gripping member according to claim 1 or 2, wherein the distal end of the extending portion is changed into the gripping state and the release state while maintaining a state shifted to the side of the opposing member. The gripping member according to claim 1 or 2, wherein the extending portion is provided on one of the left and right sides of the peripheral edge of the opening. The gripping member according to claim 1 or 2, wherein the extending portion is provided on both left and right sides of the peripheral edge of the opening. 3. The gripping member according to claim 1, wherein the extending portion is made of a flexible material and has an inwardly curved shape with a distal end facing toward the accommodation space. The gripping member according to claim 1 or 2, wherein the extending portion includes a stepped portion on an inner wall that comes into contact with the opposing member. The gripping member according to claim 1 or 2, further comprising a cover member that covers the gripping member. A gripping state in which the peripheral edge of the opening in the storage space that accommodates the object to be gripped is close to or in contact with the opposing member; and a storage space that is further away from the opposing member than in the gripping state and that accommodates the object to be held. A gripping system comprising a gripping member that is in a released state in which the object to be gripped is not accommodated and is used for gripping an object to be gripped, the gripping system comprising:
The gripping member is
A direction in which the opposing member and the peripheral edge of the opening in the housing space face when the object to be gripped is placed in the gripping state. an extending portion that extends closer to the opposing member than the facing position in the front direction ;
The gripping system is characterized in that, in the released state, the extension part suppresses the object to be gripped inside the accommodation space from falling in the direction in which the extension part is located. A gripping state in which the peripheral edge of the opening in the storage space that accommodates the object to be gripped is close to or in contact with the opposing member; and a storage space that is further away from the opposing member than in the gripping state and that accommodates the object to be held. A gripping method using a gripping member that is in a released state in which the object to be gripped is not accommodated and used to grip the object to be gripped, the method comprising:
An extending portion extending closer to the opposing member than the peripheral edge of the opening in the housing space is formed at the peripheral edge of the opening in the accommodation space that accommodates the object to be gripped, and the object is brought into the gripping state. In this case, the extending portion extends closer to the opposing member than a position where the opposing member and the peripheral edge of the opening in the accommodation space face in the front direction, which is the direction in which the opening faces. , when the extended portion is in the released state, the extending portion closes at least a portion of the periphery of the accommodation space, and the object to be grasped inside the accommodation space falls in the direction in which the extending portion is located. A grasping method characterized by suppressing the

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