JPS61125787A - Soft hand - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Field of Industrial Application] This invention is used for robots 1, manipulators, etc. (hereinafter collectively referred to as robots), and is a disk-shaped or flat-shaped object having a hole in the center. This is related to a soft hunt that can be held flexibly.

[Conventional technology]

Conventionally, objects that are easily deformed and easily damaged, such as aluminum disks, would be deformed or damaged if grasped by a robot's hand. , it was difficult to hand over the goods by robots, and handing over was done by hand by hand.

[Problem that the invention seeks to solve]

However, as the demand for aluminum disks and other products has increased in recent years, the problem has arisen that manual delivery is not enough to keep production in time.
There was a strong desire to create a hand that would not cause damage.

SUMMARY OF THE INVENTION An object of the present invention is to provide a soft hand with an extremely simple structure that can grip a disc-shaped or flat-plate-shaped object (hereinafter referred to as a gripping object) having a hole in the center without deforming or damaging it. There is a particular thing.

[Means to solve the problem]

FIG. 1 is an overall view showing the gripping part and fluid circuit diagram of the soft hand according to the present invention, and in the figure 1 is a hollow columnar body;
Two openings 2 are provided facing each other near the lower part of the circumference. Further, this hollow columnar body 1 is equipped with a drive device (not shown), and is configured to be able to move in a desired direction. 3
is a telescopic member that covers each of the openings 2 to prevent the gas inside the hollow columnar body 1 from leaking from the openings 2.

Further, the telescopic member 3 is designed so that it can be loosely fitted into a hole in the object to be gripped in a steady state. Reference numeral 4 denotes a conduit, which has one end communicating with the hollow columnar body 1, has a lexical hose 5, and is adapted to follow the movement of the hollow columnar body 1.

Reference numeral 6 denotes a directional control valve as a means for supplying and discharging pressure fluid, and the conduit 4
intervening inside. 7 is a pressure fluid supply source such as a compressor, and is connected to the conduit 4.

Figures 2 and 3 are a front view of the soft hand in Figure 1 just before it grasps the object, and a front view of it when it has grasped it, respectively; The one with the code is number 15! It has the same configuration as i, 8 is an object to be gripped, and 8' is a hole located near the center of the object to be gripped.

Note that the number of openings 2 shown in FIG.
It may be covered with a plurality of elastic members.

However, in this case as well, it is necessary to prevent the gas inside the hollow columnar body 1 from leaking through the opening, and to allow the hollow columnar body 1 to loosely fit into the hole of the grasped object 8 in a steady state.

4 and 5 show other embodiments of the grip portion of the soft hand shown in FIG. 1, with FIG. 4 being a longitudinal sectional view and FIG. 5 being a front view. In these figures, 1 and 2 are the first
Each has a hollow columnar body and an opening similar to the figure. Also 3/
is one telescopic member, and has a suitable shape so that the fluid discharged from the opening spreads over the entire circumference of the hollow columnar body 1 including the opening 2 between the hollow columnar body 1 and this telescopic member 3'. A space 9 is provided and covered to prevent the fluid inside the hollow columnar body 1 from leaking to the outside. Further, the telescopic member 31 is designed so that it can be loosely fitted into the hole of the object to be gripped in a steady state. In this case as well, the number of openings 2 is not limited to two, and one or three or more openings may be provided on one circumference of the hollow columnar body 1.

[Effect]

Next, the operation when the soft hand according to the present invention grips an object will be described using FIGS. 1, 2, and 3.

First, the hollow columnar body 1 is inserted into the hole 8/ of the object to be grasped 8 until the telescopic member 3 penetrates through the object to be grasped 8 by the controller of the robot (not shown).

Next, the directional control valve 6 is turned on, and the compressor 7's pressurized fluid passes through the 7 lexiple hose 5 and the conduit 4, flows into the hollow columnar body 1, applies pressure to the expandable member 3 through the opening 2, and this expands and contracts. The member 3 is expanded, and a space is formed between the opening 2 and the expandable member 30, and the size of the hollow columnar body 1 in the portion where the expandable member 3 is provided becomes larger than the diameter of the large hole 8' indicated by rJ. At this time, when the supply of pressure fluid from the compressor 7 is stopped and the control device of the robot is activated again to pull up the hollow columnar body 1, the telescopic member 3 is in a state supporting the grasped object 8, so that the object to be grasped can be grasped. The object 8 is moved together with the hollow columnar body 1. When the object to be grasped 8 moves and reaches an arbitrary position, the hollow columnar body 1 is lowered and the object to be grasped 8 is placed at an arbitrary position. When the directional control valve 6 is turned off, the pressure fluid within the hollow columnar body 1 passes through the conduit 4 and the flexible hose 5, and is discharged into the atmosphere. Therefore, the extensible member 3 returns to a steady state, and when the hollow columnar body 1 is pulled up again, the grasped object 8 remains at an arbitrary position.

41st i! ! In the case of the embodiments shown in FIG. The size of the hollow columnar body 1 in the portion where the elastic member 3' is expanded becomes larger than the hole in the object to be gripped, and the object to be gripped can be moved in the same manner as in the first embodiment described above.

Note that as the above-mentioned pressure fluid, in addition to gas such as air, incompressible liquid can also be used.

(Effects of the invention) Since the object to be grasped is not grasped by pinching it, but by lifting it up, no lateral pressure is applied to the object to be grasped, so that the object to be grasped can be deformed. Moreover, since the object is gripped by a gripper made of a flexible material, there is no possibility of damaging the object to be gripped. Furthermore, vI! llll! This method has the advantage that the object to be gripped can be easily transported as long as there is a certain amount of space under the hole near the center of the object to be gripped.

[Brief explanation of drawings]

FIG. 1 is a fluid diagram showing the grasping part of the soft hand according to the present invention and a fluid circuit diagram, FIG. 2 is a front view of the soft hand according to the present invention just before gripping an object, and FIG. 3 is a fluid diagram according to the present invention. A front view when the soft hand grips an object to be gripped, FIGS. 4 and 5 are a longitudinal sectional view and a front view, respectively, showing other embodiments of the gripping portion of the soft hand shown in FIG.

Claims (1)

[Claims] A gripping body that grips a flat plate or disk-shaped object having a hole in the center has one or more openings along one circumference excluding the hollow columnar end, and one or more openings that cover each opening. providing telescopic members, each of the retractable members configured to be able to loosely fit into the hole of the grasped object in a steady state, and providing a means for supplying and discharging pressurized fluid that communicates with the internal space of the hollow columnar body; After the extensible member of the gripping body is loosely fitted into the hole of the object to be gripped, the supply of the pressure fluid causes the extensible member of the gripping body to grip the object to be gripped in the hole formed in the object to be gripped. Soft hands characterized by