WO2017217190A1 - 把持爪及びこの把持爪を備える把持装置 - Google Patents

把持爪及びこの把持爪を備える把持装置 Download PDF

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Publication number
WO2017217190A1
WO2017217190A1 PCT/JP2017/019047 JP2017019047W WO2017217190A1 WO 2017217190 A1 WO2017217190 A1 WO 2017217190A1 JP 2017019047 W JP2017019047 W JP 2017019047W WO 2017217190 A1 WO2017217190 A1 WO 2017217190A1
Authority
WO
WIPO (PCT)
Prior art keywords
gripping
gripping claw
claw
base member
restricting portion
Prior art date
Application number
PCT/JP2017/019047
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
飯村　彰浩
Original Assignee
Thk株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Thk株式会社 filed Critical Thk株式会社
Publication of WO2017217190A1 publication Critical patent/WO2017217190A1/ja

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof

Definitions

  • the present invention relates to a gripping claw that is attached to a gripping device and grips a gripping object, and a gripping device to which the gripping claw is attached.
  • Patent Document 1 a structure in which a workpiece is securely gripped by a pair of claws that can be opened and closed left and right is known as a robot hand. According to this robot hand, various gripping objects can be properly gripped.
  • the robot hand described in Patent Document 1 can reduce the size of the robot hand by gripping the object to be gripped by the adsorber and the nail, and can securely grip the object to be gripped.
  • the gripping object to be gripped is There is a demand to change the shape of the claw of the working robot in accordance with the shape of the object to be grasped for the purpose of reliably grasping and improving the work efficiency.
  • Positioning is performed by regulating the direct movement and rotation of the gripping claw, but when the robot hand is downsized, the diameter of the round pin also decreases with the downsizing of the robot hand. With the decrease in positioning accuracy, the positioning accuracy decreases, and there is a problem that it becomes impossible to grip the object to be gripped appropriately.
  • the present invention has been made in order to solve the above-described problems, and is capable of reliably positioning a detachable gripping claw with a simple configuration and reducing the size of the gripping claw itself.
  • a gripping claw according to the present invention is a gripping claw that grips a gripping object, and includes a gripping claw body and a base member that attaches the gripping claw body to an opening / closing mechanism that opens and closes the gripping claw body.
  • at least one of the gripping claw main bodies includes a rotation restricting portion that restricts the movement of the gripping claw main body or the base member in the rotational direction and a linear motion restricting portion that restricts the movement of the rotation restricting portion in the horizontal direction. It is characterized by having.
  • At least one of the base member or the gripper main body has a rotation restricting portion that restricts the movement of the gripping claw main body or the base member in the rotation direction, and the horizontal restriction of the rotation restricting portion. Since it has a movement restricting section, it can be positioned with high reproducibility even when the gripping claw attached to the gripping device is replaced, and the gripping claw does not decrease in strength even if the device is downsized. Can be reliably positioned.
  • a perspective view for explaining composition of a grasping device provided with a grasping claw concerning an embodiment of the present invention The side view for demonstrating the structure of an arm part.
  • the perspective view of the hand part which concerns on embodiment of this invention.
  • the perspective view of the holding nail body of the holding nail concerning the embodiment of the present invention.
  • the perspective view of the base member of the holding nail which concerns on embodiment of this invention.
  • claw main body which concerns on embodiment of this invention.
  • FIG. 1 is a perspective view for explaining the configuration of a gripping device including a gripping claw according to an embodiment of the present invention
  • FIG. 2 is a side view for explaining the configuration of an arm portion.
  • FIG. 4 is a perspective view of the hand portion according to the embodiment of the present invention
  • FIG. 4 is an exploded view of the gripping nail according to the embodiment of the present invention
  • FIG. 5 is a perspective view of the gripping nail according to the embodiment of the present invention.
  • FIG. 6 is a perspective view of a grip claw body
  • FIG. 6 is a perspective view of a base member of the grip claw according to the embodiment of the present invention
  • FIG. 7 shows a modification of the grip claw body according to the embodiment of the present invention.
  • FIG. 8 is a perspective view
  • FIG. 8 is a view showing a modification of the tip shape of the grip claw body according to the embodiment of the present invention.
  • the gripping device 1 includes an arm unit 10 mounted on a base 12 via a rotation fixing unit 11.
  • the arm unit 10 is controlled by the control unit 15 such as gripping operation and movement of the hand unit.
  • storage units 13 and 14 for storing a workpiece that is a gripping object are provided outside the base 12.
  • the gripping device 1 With such a configuration, the gripping device 1 according to the present embodiment enables the arm unit 10 to take out gripping objects from the storage units 13 and 14 and perform a predetermined operation. .
  • the arm portion 10 is rotatably attached to the base 12 via a rotation fixing portion 11.
  • the arm portion 10 is attached to the rotation fixing portion 11, and is pivotable around a first shaft 41 that intersects the base 12 substantially perpendicularly, and a first link portion 42 at one end of the first link portion 42.
  • a second link portion 44 attached via two shafts 43 and rotatable in the front-rear direction around a horizontal second shaft 43 that intersects the first shaft 41 of the first link portion 42;
  • a third link portion 46 provided at the tip and rotatable in the front-rear direction around a third shaft 45 parallel to the second shaft 43 of the second link portion 44, and a fourth link provided at the tip of the third link portion 46.
  • a hand moving unit 20 including a fourth link unit 48 that is rotatable about the axis of the shaft 47 and a hand unit 21 as a hand effector attached to the tip of the fourth link unit 48 are provided. Since the hand part 21 is configured in this way, the hand part 21 attached to the tip of the arm part 10 can be moved three-dimensionally.
  • the hand unit 21 includes an opening / closing mechanism 24 attached to the fourth link portion 48 and a pair of gripping claws 31 attached to be opened and closed by the opening / closing mechanism 24.
  • the pair of gripping claws 31 are members formed in mirror symmetry, and the gripping surfaces 32 correspond to the gripping objects so that the gripping nails 31 can grip the gripping objects. It is formed into a shape. Further, the gripping claw 31 is made of a material having a relatively low hardness so as not to damage the gripping target object, and may be formed of, for example, an aluminum alloy or the like, and grips the gripping target object. Therefore, in order to make the gripping claws 31 difficult to wear, the gripping claws 31 may be made of a material having high hardness.
  • the opening / closing mechanism 24 is an element component that can open and close the pair of gripping claws 31 so as to be separated from and close to each other with a certain stroke by an input of an external driving source such as pressure and electric power. By doing so, it is possible to grasp and release the object to be grasped.
  • an external driving source such as pressure and electric power.
  • a drive source may be separately prepared and air or oil may be used. You may comprise with an electric motor.
  • the gripping claw 31 includes a gripping claw main body 33 that directly contacts the gripping target object and grips the gripping target object, and a base member 34 that attaches the gripping claw main body 33 to the opening / closing mechanism 24.
  • the grip claw body 33 is attached to the base member 34 via a key member 35 and a pin-like fitting member 36 and fastened by a bolt 37.
  • the key member 35 is fitted into a fitting groove 33a formed in the holding claw body 33 and a fitting groove 34a formed in the base member 34 so as to face the fitting groove 33a, thereby holding the key member 35.
  • the rotation of the nail body 33 is restricted.
  • the fitted groove 33 a and the fitted groove 34 a are extended along the opening / closing direction of the opening / closing mechanism 24.
  • the fitting member 36 is inserted into the insertion hole 33 b formed in the groove bottom of the fitting groove 33 a and the fitting hole 38 formed in the groove bottom of the fitting groove 34 a, and is formed in the key member 35. It penetrates the through hole 35a.
  • the fitting member 36 restricts the linear movement of the grip claw body 33 along the extending direction of the fitting groove 33a.
  • the key member 35 and the fitting member 36 function as a rotation restricting portion that restricts the movement of the gripping claw main body 33 in the rotation direction and a linear movement restricting portion that restricts the movement of the rotation restricting portion in the horizontal direction.
  • the key member 35 and the fitting member 36 be detachably attached to the grip claw body 33. Since the key member 35 and the fitting member 36 can use widely distributed general parts, they can be procured at low cost. At this time, it is preferable that the rotation restricting portion and the linear motion restricting portion are arranged along a direction in which the base member 34 and the gripping claw body 33 are connected. Further, when these members are integrally formed on the gripping claw main body 33 and the base member 34, the processing of the convex portion generally requires a higher processing cost than the groove processing.
  • the key member 35 is used as another member for detachably attaching the key member 35 and the fitting member 36 to the gripping claw body 33, and the rotation restricting portion and the linear motion restricting portion are connected to the base member 34 and the gripping claw body 33. Since the rotation restricting portion can be configured by applying the groove processing with a lower processing cost to the gripping claw body 33 and the base member 34 due to the arrangement along the direction to be formed, the overall manufacturing cost can be suppressed. Therefore, it is possible to reduce the size of the gripping claws and the gripping device assembled with the gripping claws.
  • the gripping claw body 33 has a fitting groove 33 a formed on the mounting surface to the base member 34, and the insertion hole 33 b is formed on the groove bottom as described above. Further, fastening holes 33c and 33c to which the bolts 37 are fastened are formed on both side edges of the fitted groove 33a. These insertion holes 33b and fastening holes 33c and 33c are preferably arranged on a straight line substantially orthogonal to the fitted groove 33a.
  • the distance and direction of the gripping claws can be changed so that gripping objects having as many shapes as possible can be gripped, or gripping to grip as shown in FIGS. 8 (a) to 8 (d).
  • the outer shape is sandwiched from the outside of the gripping object, and the gripping claw is inserted into the part where the space is open inside the gripping object and the gripping nail is gripped so as to grip the gripping object from the inside. Can be used by replacing.
  • the insertion hole 33b and the fastening holes 33c and 33c are arranged on a straight line substantially orthogonal to the fitting groove 33a so that the gripping surface of the gripping claw can be attached so as to be on the inner side and the outer side. can do.
  • the gripping surface 32 for gripping the gripping object is appropriately formed according to the shape of the gripping object to be gripped.
  • the shape of the gripping surface shown in FIG. 5 is formed to have a V-shaped cross section in order to grip an elongated rod-like member, for example, as shown in FIG.
  • the base member 34 has a fitting groove 34 a corresponding to the fitting groove 33 a on the surface on which the gripping claw body 33 is attached, extending along the opening / closing direction of the gripping claw 31.
  • a fitting hole 38 is formed in the groove bottom of the joint groove 34a. Note that it is preferable that a plurality of the fitting holes 38 be formed along the extending direction of the fitting groove 34a.
  • the fitting holes 38 include an inner fitting hole 38a and an outer fitting hole 38b. ing.
  • the fitting groove 34a is extended along the opening / closing direction of the holding claw 31, when adjusting the attachment position mentioned above, the key member 35 is put along the fitting groove 34a and the fitting groove 33a. Since the adjustment can be performed only by moving, the gripping claw 31 can be downsized even if the position adjusting mechanism is provided.
  • insertion holes 37a and 37b are formed on both side edges of the fitting groove 34a of the base member 34 so as to correspond to the inner fitting hole 38a and the outer fitting hole 38b.
  • insertion holes 34 c and 34 c for inserting fastening bolts for attaching the base member 34 to the opening / closing mechanism 24 are formed outside the insertion holes 37 a and 37 b.
  • a positioning groove 34 b is formed on the surface of the base member 34 attached to the opening / closing mechanism 24, and the base member 34 is attached to the opening / closing mechanism 24 by engaging the positioning groove 34 b with the outer edge of the opening / closing mechanism 24. against rotation.
  • a convex rotation restricting portion 35 ′ may be formed on the attachment surface of the gripping claw body 33 ′ to the base member 34, and the fitting member 36 may be inserted into the rotation restricting portion 35 ′.
  • a linear protrusion may be formed by further forming a cylindrical protrusion on the rotation restricting portion 35 ′.
  • the shape of the gripping surface 32 of the gripping claw 31 is not limited to the case where the cross-section in the extending direction of the gripping claw 31 is V-shaped as shown in FIG. 4.
  • the gripping surface 32 can be a flat surface, and as shown in FIG. You may form in V shape.
  • the grip claw 31 is constituted by a plurality of pin portions 39, 39, and the pin portion 39 is configured to grip the inner peripheral surface or the outer peripheral surface of the ring-shaped member. It doesn't matter.
  • the gripping claws according to the present embodiment can make it possible to grip various gripping objects by appropriately recombining gripping nail bodies having different gripping surface shapes depending on the gripping objects to be gripped. .
  • the fitting groove 33a is formed in the gripping claw body 33
  • the fitting groove 34a is formed in the base member 34
  • the fitting groove 33a and the fitting groove 34a are key members.
  • the gripping device according to the present embodiment has been described with respect to the gripping device including a single arm portion, a plurality of arm portions may be provided, for example, in the arm portion of a double-arm robot having both arms. A gripping device may be applied. It is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
PCT/JP2017/019047 2016-06-16 2017-05-22 把持爪及びこの把持爪を備える把持装置 WO2017217190A1 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016119998A JP6719990B2 (ja) 2016-06-16 2016-06-16 把持爪及びこの把持爪を備える把持装置
JP2016-119998 2016-06-16

Publications (1)

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WO2017217190A1 true WO2017217190A1 (ja) 2017-12-21

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JP (1) JP6719990B2 (zh)
TW (1) TW201811516A (zh)
WO (1) WO2017217190A1 (zh)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS606387A (ja) * 1983-06-20 1985-01-14 三菱電機株式会社 ロボツトのメカニカルハンド
JPS63313658A (ja) * 1987-06-16 1988-12-21 Shibaura Eng Works Co Ltd ロボツト
JP2013237122A (ja) * 2012-05-15 2013-11-28 Seiko Epson Corp ロボットハンド、ロボットハンドの組み立て方法、およびロボット

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60123288A (ja) * 1983-12-07 1985-07-01 株式会社東芝 指交換可能な把持装置
JPS6261488U (zh) * 1985-10-04 1987-04-16
JPH01317989A (ja) * 1988-06-17 1989-12-22 Murata Kogyo Kk 搬送装置
JP3065700B2 (ja) * 1991-03-20 2000-07-17 ヤマザキマザック株式会社 ロボットのハンドグリッパ及びグリッパの自動交換装置
JP2000263486A (ja) * 1999-03-18 2000-09-26 Kyoritsu Giken:Kk ロボット用ハンド
JP2001341091A (ja) * 2000-03-30 2001-12-11 Kondo Seisakusho:Kk 把持装置
JP2003156018A (ja) * 2001-11-21 2003-05-30 Dainippon Ink & Chem Inc 接合部品及びこれを用いた構造体、並びに部材の接合方法
FR2903927B1 (fr) * 2006-07-21 2008-09-05 Sidel Participations Dispositif d'assemblage rapide d'outillage sur support.
JP2009107079A (ja) * 2007-10-31 2009-05-21 Nachi Fujikoshi Corp 産業用ロボットのハンド装置
JP5369638B2 (ja) * 2008-11-21 2013-12-18 株式会社Ｉｈｉ ロボット装置
JP2011156649A (ja) * 2010-02-04 2011-08-18 Yaskawa Electric Corp グリッパ装置およびそのストローク量変更方法
CN104647391B (zh) * 2011-06-28 2016-06-08 株式会社安川电机 机器人手和机器人

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS606387A (ja) * 1983-06-20 1985-01-14 三菱電機株式会社 ロボツトのメカニカルハンド
JPS63313658A (ja) * 1987-06-16 1988-12-21 Shibaura Eng Works Co Ltd ロボツト
JP2013237122A (ja) * 2012-05-15 2013-11-28 Seiko Epson Corp ロボットハンド、ロボットハンドの組み立て方法、およびロボット

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JP6719990B2 (ja) 2020-07-08
JP2017222011A (ja) 2017-12-21
TW201811516A (zh) 2018-04-01

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