WO2018092914A1 - Gripping device and industrial robot - Google Patents

Gripping device and industrial robot Download PDF

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Publication number
WO2018092914A1
WO2018092914A1 PCT/JP2017/041859 JP2017041859W WO2018092914A1 WO 2018092914 A1 WO2018092914 A1 WO 2018092914A1 JP 2017041859 W JP2017041859 W JP 2017041859W WO 2018092914 A1 WO2018092914 A1 WO 2018092914A1
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WO
WIPO (PCT)
Prior art keywords
finger
palm
gripping device
gripping
holding
Prior art date
Application number
PCT/JP2017/041859
Other languages
French (fr)
Japanese (ja)
Inventor
浩和 新田
至 波多野
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ニッタ株式会社
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Publication date
Application filed by ニッタ株式会社 filed Critical ニッタ株式会社
Publication of WO2018092914A1 publication Critical patent/WO2018092914A1/en

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    • 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
    • B25J15/08—Gripping heads and other end effectors having finger members

Definitions

  • the present invention relates to a gripping device and an industrial robot.
  • a suction hand or a two-finger gripper (for example, Patent Document 1) is mainly used. May not be able to be gripped. For this reason, in a work site where there are many types of workpieces to be gripped, such as high-mix low-volume production, replacement work by a tool changer or a person is required, resulting in a reduction in production efficiency. Furthermore, there is a problem that a flexible and irregular workpiece such as food cannot be gripped without being damaged.
  • Patent Document 3 a gripping device having a sealed rubber-like bag and powder filled in the rubber bag and utilizing the Jamming transition of the granular material has been developed (for example, Patent Document 3). Since this gripping device can grip the rubber bag in a state of following the workpiece, it can handle various workpieces with simple control.
  • An object of the present invention is to provide a gripping device and an industrial robot that can further improve versatility.
  • a gripping device is a bag having a palm portion and a plurality of finger portions that are provided to project around the palm portion and fall toward the palm portion by deforming the palm portion in the thickness direction.
  • -Shaped gripping main body, a filler provided in the finger part, a shape holding part that prevents contraction of the outer periphery of the palm part, and the finger part selected from the plurality of finger parts is held in an extended state And a finger holding part.
  • the industrial robot according to the present invention is characterized in that the gripping device is provided.
  • the selected finger portion is held in an extended state only by decompressing the inside of the gripping body, and only the other finger portions are tilted toward the palm portion. Since it can be elastically deformed, versatility can be further improved. .
  • FIG. 7 is an AA end view in FIG. 6 showing a use state (1) of the gripping device according to the first embodiment. It is a fragmentary longitudinal end view which shows the structure of the holding
  • FIG. 13A is a perspective view showing a modification (1) of the gripping device
  • FIG. 13A shows a case where the length of the finger portion is small
  • FIG. 13B shows a case where the length of the finger portion is medium
  • FIG. 14A is a perspective view showing a modification (2) of the gripping device
  • FIG. 14A shows a case where the length of the finger portion is small
  • FIG. 14B shows a case where the length of the finger portion is medium
  • FIG. 15A is a perspective view showing a modified example (3) of the gripping device
  • FIG. 15A shows a case where the length of the finger portion is small
  • FIG. 15B shows a case where the length of the finger portion is medium
  • FIG. 1 shows a configuration of an industrial robot 12 to which the gripping device 10A according to the present embodiment is applied.
  • the industrial robot 12 is an orthogonal robot, and includes a rail 14, a moving body 16 that moves along the rail 14, and an air cylinder 18 that is fixed to the moving body 16.
  • the rail 14 is provided so as to be movable in the Y-axis direction in the drawing.
  • the air cylinder 18 has a cylinder tube 19 and a piston rod 20 provided so as to be movable forward and backward with respect to the cylinder tube 19.
  • the cylinder tube 19 is provided with pipes 21 and 22. By supplying and exhausting gas through the pipes 21 and 22, the piston rod 20 can advance and retract with respect to the cylinder tube 19.
  • a gripping device 10 ⁇ / b> A is provided at the tip of the piston rod 20.
  • the industrial robot 12 can grip the workpiece W placed on the horizontal base 26 with the gripping device 10A and move in the X-axis, Y-axis, and Z-axis directions.
  • the gripping device 10 ⁇ / b> A includes a case 36 connected to the piston rod 20 and a gripping body 28 ⁇ / b> A fixed to the case 36.
  • a pipe 24 is connected to the case 36.
  • the grip body 28A can be formed of a material having airtightness and elasticity, for example, natural rubber or synthetic rubber.
  • the hardness measured according to the JIS K6253 durometer hardness test (type A) of the gripping body 28A is preferably about 60 to 90.
  • the gripping main body 28 ⁇ / b> A has a palm portion 30 and a plurality of finger portions 32 provided so as to protrude around the palm portion 30.
  • the palm 30 has a substantially disk shape.
  • the finger part 32 is formed integrally with the palm part 30 and is provided with three radial parts, that is, a first finger part 32X, a second finger part 32Y, and a third finger part 32Z so as to surround the palm part 30. Yes.
  • the first finger part 32X, the second finger part 32Y, and the third finger part 32Z are collectively referred to as the finger part 32 unless particularly distinguished.
  • a predetermined interval is formed between the finger portions 32.
  • the finger portion 32 has an inner surface 31 formed integrally with the palm portion 30.
  • the external shape of the finger part 32 can be selected as appropriate, and may be, for example, a cylinder, a cone, a truncated cone, a triangular prism, a quadrangular prism, a triangular pyramid, a quadrangular pyramid, a quadrangular pyramid, or the like.
  • the finger part 32 is comprised by the same shape.
  • the plurality of finger portions 32 need not all have the same shape, and may have different shapes.
  • the finger part 32 has a quadrangular frustum shape, and the inner surface 31 is formed so as to incline outward from the proximal end joined to the palm part 30 toward the distal end.
  • the selected finger portion 32 (in this case, the second finger portion 32Y and the third finger portion 32Z).
  • the selected finger portion 32 In an extended state, and elastically deforms so that only the finger part 32 other than the selected one (in the case of the present figure, the first finger part 32X) falls toward the palm part 30 (FIG. 3).
  • the gripping main body 28 ⁇ / b> A is made of a bag-like member having an opening on the surface opposite to the surface on which the palm portion 30 and the finger portion 32 are formed.
  • the grip body 28A includes an elastic part 34, a shape holding part 38, and a finger holding part 42 therein.
  • the gripping main body 28A is fixed to the case 36 at a flange portion 33 formed integrally with the periphery of the opening, and the opening is sealed by the case 36.
  • the case 36 is provided with a through hole 37.
  • One end of the pipe 24 is inserted into the through hole 37 and communicates with the grip body 28A.
  • the other end of the pipe 24 is connected to a vacuum pump through a three-way valve, for example.
  • the three-way valve has a vacuum port, a supply / exhaust port, and an atmosphere release port, and the vacuum port is connected to the vacuum pump, the supply / exhaust port is connected to the gripping device 10A, and the atmosphere release port is connected to the outside.
  • gas flows from the inside of the gripping body 28A to the outside and from the outside of the gripping body 28A.
  • the elastic part 34 is filled in the finger part 32 and has the shape of the finger part 32. As long as the shape of the elastic part 34 is inserted into the finger part 32 of the gripping main body 28 ⁇ / b> A and can maintain a certain shape, a slight gap may be formed between the inner part of the finger part 32.
  • the material of the elastic part 34 is preferably resin or rubber.
  • the material of the elastic portion 34 is not necessarily uniform, and may be a composite material in which different materials are combined.
  • the elastic part 34 may include an additive such as a filler.
  • the elastic part 34 is preferably arranged so that there is no gap between the elastic part 34 and the inner surface of the finger part 32.
  • the elastic part 34 is preferably disposed in the finger part 32.
  • the shape of the base end of the elastic part 34 is a planar shape.
  • the shape holding portion 38 is disposed in the internal space of the palm portion 30 of the gripping main body 28A.
  • the shape holding unit 38 holds the grip main body 28 ⁇ / b> A so that other than the palm unit 30, that is, the outer periphery of the palm unit 30 does not contract.
  • the material of the shape holding part 38 is sufficient as long as it does not deform under the reduced pressure of the gripping main body 28A.
  • hard resin or metal can be used.
  • the material of the shape holding portion 38 is not necessarily uniform, and may be a composite material in which different materials are combined.
  • the shape holding portion 38 shown in the figure is a frame-like member having a guide hole 40 for receiving the deformed palm portion 30 and a curved portion 49 outside the tip of the guide hole 40 on the finger portion 32 side in the axial direction.
  • the shape holding portion 38 is a cylindrical member having a holding surface 48 that holds the outer peripheral surface 39 of the palm portion 30.
  • the guide hole 40 is preferably at the center of the shape holding portion 38 corresponding to the palm portion 30 and has an inner diameter that is substantially the same as that of the palm portion 30.
  • the holding surface 48 is a circumferential surface outside the shape holding portion 38, has a size capable of holding the outer peripheral surface 39 of the palm portion 30, and is tapered toward the tip as a whole.
  • a bending portion 49 is provided on the finger portion 32 side of the holding surface 48.
  • the curved portion 49 is convex toward the outside.
  • a chamfering process is applied to the finger-side tip of the shape holding portion 38 where the curved portion 49 and the guide hole 40 intersect at a surface.
  • the chamfering can be applied by cutting the tip of the shape holding part 38 on the finger side to form a square surface or a round surface. Since the shape holding part 38 is chamfered, it can prevent breakage such as chipping at the tip.
  • the shape holding part 38 preferably has a ratio of the outer diameter of the shape holding part 38 to the inner diameter of the guide hole 40 of 1.0: 0.93 to 1.0: 0.5.
  • the outer diameter of the shape holding portion 38 is 80 mm and the inner diameter of the guide hole 40 is in the range of 60 to 70 mm, the finger portion 32 is more reliably elastically deformed toward the center of the palm portion 30.
  • the position of the distal end of the shape holding portion 38 on the finger side is located outside the center position of the base end of the elastic portion 34 in the radial direction of the shape holding portion 38.
  • the finger holding part 42 is disposed in the guide hole 40 of the shape holding part 38 and has a contact surface 44 that suppresses a part of the deformation of the palm part 30.
  • the contact surface 44 is in contact with the back surface of the palm 30.
  • the finger holding part 42 is applied with the material exemplified in the shape holding part 38, and may be the same as or different from the shape holding part 38.
  • the contact surface 44 of the finger holding unit 42 is smoothly connected to the holding surface 48 of the shape holding unit 38.
  • the height of the finger holding part 42 is substantially the same as that of the shape holding part 38.
  • the finger holding part 42 holds a part of the palm part 30 so as not to be deformed in the thickness direction when the contact surface 44 contacts a part of the palm part 30.
  • a portion of the guide hole 40 where the finger holding portion 42 is not disposed is a space. The palm 30 in the space can be deformed in the thickness direction.
  • the shape holding portion 38 has a plurality of concentric circles, two ring bodies 45 and 46 in the case of this figure.
  • Each ring body 45, 46 is movable and removable in the axial direction.
  • the finger holding part 42 has a solid part corresponding to the notch part 50 in which the part corresponding to the first finger part 32X is cut out in a fan shape, and the second finger part 32Y and the third finger part 32Z. Part 52.
  • the finger holding part 42 is movable and removable in the axial direction with respect to the shape holding part 38.
  • the industrial robot 12 uses the state where the piston rod 20 is retracted in the cylinder tube 19 and the air cylinder 18 is contracted as the origin.
  • the pressure in the gripping main body 28A is atmospheric pressure in the initial state. That is, the three-way valve is in a state where the vacuum port is shut off and the supply / exhaust port is connected to the atmosphere release port.
  • the industrial robot 12 positions the gripping device 10A on the vertical line of the workpiece W placed on the base 26 as the moving body 16 moves along the rail 14 (FIG. 1). Next, the industrial robot 12 extends the air cylinder 18 until the finger portion 32 reaches the side surface of the workpiece W by the piston rod 20 advancing from the cylinder tube 19.
  • the three-way valve is switched to a state where the air release port is shut off and the air supply / exhaust port is connected to the vacuum port. Accordingly, the gripping device 10A sucks the gas in the gripping main body 28A through the pipe 24, and reduces the pressure in the gripping main body 28A to, for example, ⁇ 0.03 MPa or less.
  • the grip body 28A maintains a state in which the shape of the outer peripheral surface 39 of the palm 30 is held by the shape holding unit 38. Furthermore, the finger holding part 42 prevents the palm part 30 corresponding to the second finger part 32Y and the third finger part 32Z from being deformed in the thickness direction. Then, the part corresponding to the first finger part 32X of the palm part 30 is deformed in the thickness direction so as to be sucked into the space surrounded by the guide hole 40 and the notch part 50 of the shape holding part 38 (FIG. 7). As the palm part 30 is deformed in the thickness direction, the inner surface 31 of the first finger part 32X is pulled toward the center of the palm part 30. Then, the first finger part 32X is elastically deformed so as to fall toward the palm part 30.
  • the inner surface 31 mainly contacts the workpiece
  • the first finger portion 32X contacts the side surface of the workpiece W.
  • the second finger part 32Y prevents the contact surface 44 of the finger holding part 42 from coming into contact with the palm part 30 corresponding to the second finger part 32Y, and the palm part 30 of the part is prevented from being deformed in the thickness direction.
  • the stretched state is maintained (FIG. 8).
  • the third finger portion 32Z is also held in an extended state, like the second finger portion 32Y.
  • the gripping device 10A elastically deforms only the first finger portion 32X by reducing the pressure inside the gripping main body 28A.
  • the gripping device 10A grips the workpiece W by sandwiching the workpiece W between the first finger portion 32X and the second finger portion 32Y and the third finger portion 32Z held in an extended state.
  • the gripping device 10A can change the deformation amount of the first finger portion 32X according to the pressure in the gripping main body 28A.
  • the gripping device 10 ⁇ / b> A can deform the first finger part 32 ⁇ / b> X to an acute angle toward the palm part 30 as the pressure in the gripping main body 28 ⁇ / b> A is low. Therefore, the gripping device 10A grips a smaller work W by sandwiching it between the first finger part 32X deformed at an acute angle and the second finger part 32Y and the third finger part 32Z held in an extended state. be able to.
  • the industrial robot 12 can lift the workpiece W from the base 26 by retracting the piston rod 20 into the cylinder tube 19 and contracting the air cylinder 18. Furthermore, the industrial robot 12 can move the workpiece W freely in the horizontal direction by moving the moving body 16 along the rail 14 or moving the rail 14 in the Y-axis direction.
  • the industrial robot 12 After moving to the desired location, the industrial robot 12 extends the air cylinder 18 until the workpiece W contacts the base 26 by the piston rod 20 moving from the cylinder tube 19.
  • the three-way valve is switched to a state in which the vacuum port is shut off and the supply / exhaust port is connected to the atmosphere release port.
  • the gas flows into the holding body 28A from the atmosphere release port through the pipe 24.
  • the palm 30 As the pressure in the gripping main body 28A returns to atmospheric pressure, the palm 30 is pushed out of the guide hole 40 and returns to its original state.
  • the first finger portion 32X is extended and the workpiece W is released.
  • the industrial robot 12 separates the gripping device 10 ⁇ / b> A from the workpiece W by retracting the piston rod 20 into the cylinder tube 19 and contracting the air cylinder 18. As described above, the industrial robot 12 can move to a desired position by gripping the workpiece W placed on the base 26 with the gripping device 10A.
  • the gripping device 10A includes the finger holding portion 42, only the first finger portion 32X can be elastically deformed so as to fall toward the palm portion 30 only by decompressing the inside of the gripping main body 28A. Can be further improved.
  • the case where only the first finger portion 32X is elastically deformed has been described.
  • the present invention is not limited to this, and only the second finger portion 32Y or only the third finger portion 32Z is elastically deformed. Also good.
  • the gripping device 10 ⁇ / b> A may be elastically deformed so that any two finger portions 32 fall down toward the palm portion 30.
  • the finger holding portion has a cutout portion cut out corresponding to the two finger portions 32 and a solid portion corresponding to the one finger portion 32.
  • the gripping device is elastic so that only two fingers 32 are tilted toward the palm 30 by aligning the notch with any two fingers 32 and placing the finger holding part in the gripping body 28A. Simultaneously with the deformation, the selected one finger portion 32 can be held in the extended state.
  • the solid part 52 may be divided
  • a partition plate may be provided between the solid portions.
  • the gripping device 10A can grip the workpiece W more reliably without using powder by having the elastic portion 34 having the shape of the finger portion 32 and the shape holding portion 38 in the gripping main body 28A. Since the gripping device 10A does not use powder, even if the gripping main body 28A ruptures, the workpiece W is not contaminated.
  • the elastic part 34 Since the elastic part 34 has the shape of the finger part 32, the elastic part 34 stays in the finger part 32 not only in a state where the tip of the finger part 32 faces downward but also in a sideways or upward state. Accordingly, the gripping device 10A can not only lift the workpiece W on the base but also grip the workpiece W suspended on a vertical wall surface or ceiling. Since the elastic portion 34 having the shape of the finger portion 32 has higher rigidity than the powder after the jamming transition, the workpiece W can be gripped more reliably.
  • the gripping device 10A can grip the workpiece W by depressurizing the gripping main body 28A and reliably deforming the palm portion 30 in the thickness direction, so there is no need to press the gripping main body 28A against the workpiece W. Accordingly, the gripping device 10A can grip a soft work W such as food without being crushed, and thus can prevent the work W from being damaged.
  • the shape holding unit 38 can change the size of the guide hole 40 and the size of the outer shape by appropriately removing the plurality of ring bodies 45 and 46 arranged concentrically. Therefore, the shape holding part 38 can be adjusted by selecting the ring bodies 45 and 46 in accordance with the size of the outer peripheral surface 39 of the gripping main body 28A and the size of the palm part 30. Can be improved.
  • the hole of the ring body 45 arranged on the innermost side is the guide hole 40
  • the circumferential surface of the ring body 46 arranged on the outermost side is the holding surface 48.
  • the gripping device 10A since the curved portion 49 is formed in the shape holding portion 38, the palm portion 30 is deformed in the thickness direction while being in contact with the curved portion 49. Therefore, the finger corresponding to the notch portion of the finger holding portion is used.
  • the part 32 (first finger part 32X in the case of this embodiment) is continuously and gently deformed. Therefore, the gripping device 10A can grip the workpiece W softly.
  • the finger portion is deformed so as to buckle.
  • the gripping device 10 ⁇ / b> B includes a case 36 and a gripping main body 28 ⁇ / b> A fixed to the case 36.
  • the grip body 28A includes an elastic part 34, a shape holding part 38, and a finger holding part 42 therein.
  • the finger holding unit 42 according to the present embodiment elastically deforms the finger part 32 by the position where the contact surface 44 contacts a part of the palm part 30 and the part of the palm part 30 deforms in the thickness direction. It is possible to move between possible positions.
  • the gripping device 10 ⁇ / b> B includes an air cylinder 54 as a driving unit that moves the finger holding unit 42.
  • the finger holding part 42 corresponds to the first finger part 32X, the second finger part 32Y, and the third finger part 32Z, the first solid part 56, the second solid part 58, the third finger part 32X. It has a solid part 60 (FIG. 10).
  • the air cylinder 54 is provided in each solid part. Each air cylinder 54 moves the 1st solid part 56, the 2nd solid part 58, and the 3rd solid part 60 each independently.
  • a partition plate may be provided between each of the first solid part 56, the second solid part 58, and the third solid part 60.
  • the air cylinder 54 includes a cylinder tube 62, a piston rod 64 provided so as to be able to advance and retract relative to the cylinder tube 62, and a coil spring 66 that presses the piston rod 64 in the retracting direction.
  • the cylinder tube 62 is provided with a pipe 68. By supplying and exhausting gas through the pipe 68, the piston rod 64 can advance and retreat with respect to the cylinder tube 62.
  • a first solid part 56, a second solid part 58, and a third solid part 60 are fixed to the tip of the piston rod 64, respectively. In the case of this figure, the first solid portion 56 is fixed to the tip of the piston rod 64.
  • the gripping device 10B retracts the piston rod 64 into the cylinder tube 62 and contracts the air cylinder 54 by setting the pressure in the cylinder tube 62 to atmospheric pressure.
  • the inside of the gripping main body 28A is depressurized.
  • a part of the palm part 30 corresponding to the first finger part 32X is deformed in the thickness direction so as to be sucked into the guide hole 40 of the shape holding part 38 (FIG. 11).
  • the inner surface 31 of the first finger part 32X is pulled toward the center of the palm part 30.
  • the first finger part 32X is elastically deformed so as to fall toward the palm part 30.
  • the gripping device 10B pressurizes the inside of the cylinder tube 62 to advance the piston rod 64 from the cylinder tube 62, and extends the air cylinder 54 until the contact surface 44 of the first solid portion 56 contacts the palm portion 30. Let Since the contact surface 44 is in contact with the palm portion 30, even if the inside of the gripping main body 28 ⁇ / b> A is depressurized, the finger holding portion 42 prevents the palm portion 30 corresponding to the first finger portion 32 ⁇ / b> X from deforming in the thickness direction. prevent. In this way, the gripping device 10B holds the first finger portion 32X in an extended state (FIG. 12).
  • the gripping device 10B since the gripping device 10B includes the finger holding unit 42, it is possible to obtain the same effect as that of the first embodiment. Furthermore, in the case of this embodiment, the finger holding part 42 has a first solid part 56, a second solid part 58, and a third solid part 60 corresponding to each finger part 32, and the first middle part 56 is formed by the air cylinder 54.
  • the position at which the contact surface 44 contacts a part of the palm part 30 and the part of the palm part 30 in the thickness direction are independent of the real part 56, the second solid part 58, and the third solid part 60. It is possible to move between positions where the finger portion 32 can be elastically deformed. Since the gripping device 10B can hold the finger portion 32 in a state of being selectively stretched or elastically deformed as described above, the versatility can be further improved.
  • the present invention is not limited to the above-described embodiment, and can be appropriately changed within the scope of the gist of the present invention.
  • an example of an orthogonal robot is shown as the industrial robot 12, but the present invention is not limited to this, and can be applied to a SCARA robot, a vertical articulated robot, and the like. That is, the gripping devices 10A and 10B can grip the workpiece W and maintain the gripped state even when the industrial robot rotates about the X axis, the Y axis, and the Z axis.
  • the grip body 28A may be formed of one kind of material, or may be formed by laminating films formed of a plurality of different materials.
  • the grip body 28A may be formed of partially different materials.
  • the thickness of the gripping main body 28A may not be constant, and a thick part or a thin part may be partially provided.
  • the grip body 28A and the elastic portion 34 may be integrated.
  • the gripping main body 28A and the elastic portion 34 may be partially or entirely made of the same material or different materials.
  • the gripping devices 10 ⁇ / b> A and 10 ⁇ / b> B may be provided with a nail portion on the finger portion 32.
  • a plate-shaped member made of synthetic resin, a conical member, or a sac-shaped member can be used for the claw portion.
  • the shape holding portion 38 has a plurality of ring bodies arranged concentrically has been described, but the present invention is not limited to this and may be a single ring body.
  • the ring body preferably has a gas flow path.
  • the shape holding part 38 may be integrated with the gripping main body 28A.
  • the shape holding portion 38 is not limited to a cylindrical member, and may be a polygonal column having a guide hole 40.
  • the shape holding unit 38 may be a frame-shaped member such as an ellipse, a polygon, or an ellipse in plan view.
  • the outer shape of the shape holding portion 38 can be changed as appropriate, such as an oval, an ellipse, or a polygon, and may be matched to the shape of the gripping body.
  • the guide hole 40 is not limited to a circular shape, and may be a polygonal shape.
  • the present invention is not limited to this, and the holding surface 48 may be omitted. When the holding surface 48 is omitted, it is preferable to separately use a holding member that holds the outer peripheral surface 39 of the palm 30 instead of the holding surface 48.
  • the shape of the base end of the elastic portion 34 is a planar shape
  • the shape of the base end of the elastic portion 34 can be a curved shape that matches the curvature of the bending portion 49.
  • the shape is maintained having a protrusion protruding toward the finger portion 32 at a position corresponding to the elastic portion 34.
  • Part (not shown) may be used.
  • the filler is an elastic portion
  • the present invention is not limited to this and may be a granular material.
  • the granular material can be selected as appropriate, and can be formed of, for example, an aggregate of alumina, activated carbon, styrene foam, glass beads, dried beans, wood chips, and the like.
  • the filling rate of the granular material is preferably about 20 to 80% of the gripping main body 28A, and more preferably 40 to 60%.
  • the filling rate is expressed as A / B ⁇ 100 (%), where A is the weight of the granular material filled in the gripping main body 28A, and B is the weight of the granular material when the gripping main body 28A is closely packed. Is done.
  • the pressure in the gripping main body 28A is reduced to, for example, ⁇ 0.05 MPa or less, so that the finger portion 32 is elastically deformed so as to fall toward the palm portion 30.
  • the case 36 may be provided with a camera for photographing the workpiece W, a weigh scale for measuring the weight of the gripped workpiece W, a proximity sensor for measuring the distance between the workpiece W and the gripping main body 28A, and the like.
  • the grip body has the finger length shown in FIG. 2
  • the present invention is not limited to this.
  • the length of the finger can be appropriately changed according to the application.
  • the size of the palm can also be changed.
  • the number of finger portions may be four as in the gripping main bodies 70A, 70B, and 70C shown in FIG. 14, or may be five as in the gripping main bodies 72A, 72B, and 72C shown in FIG.

Abstract

Provided are a gripping device capable of further improving versatility, and an industrial robot. Thus, a gripping device characterized by being equipped with: a bag-shaped gripping body 28A which has a palm section 30 and a plurality of finger parts 32 which are provided so as to project from the periphery of the palm section 30 and collapse toward the palm section 30 as a result of a deformation of the palm section 30 in the thickness direction; a filler material provided inside the finger parts 32; a shape-maintaining part 38 for preventing contraction of the outer periphery of the palm section 30; and a finger-holding part 42 for holding a finger part 32 selected from the plurality of finger parts 32 in an extended state.

Description

把持装置及び産業用ロボットGripping device and industrial robot
　本発明は、把持装置及び産業用ロボットに関するものである。 The present invention relates to a gripping device and an industrial robot.
　ワークを把持することを目的とした把持装置として、主に吸着ハンドや２指型グリッパ（例えば、特許文献１）が利用されているが、これらは機構上、サイズや形状が異なるワークを汎用的に把持することができない場合がある。そのため、多品種少量生産のように、把持するワークの種類が多い作業現場においては、ツールチェンジャーや人による取り替え作業が必要となってしまうため、生産効率が低下してしまう。さらに食品に代表されるような、柔軟かつ不定形なワークを傷めずに把持することができないという問題があった。 As a gripping device for gripping a workpiece, a suction hand or a two-finger gripper (for example, Patent Document 1) is mainly used. May not be able to be gripped. For this reason, in a work site where there are many types of workpieces to be gripped, such as high-mix low-volume production, replacement work by a tool changer or a person is required, resulting in a reduction in production efficiency. Furthermore, there is a problem that a flexible and irregular workpiece such as food cannot be gripped without being damaged.
　これに対し、人間の手に近い、形状及び機構を有する５指型の把持装置の検討もされている（例えば、特許文献２）。ところが、５指型の把持装置は、人間の手に近い複雑な動作を実現する為に、動作や制御機構が非常に複雑なため、これらの複雑さが導入を困難にする要因となっている。 On the other hand, a five-finger type gripping device having a shape and a mechanism close to a human hand has been studied (for example, Patent Document 2). However, since the five-finger gripping device has a very complicated operation and control mechanism in order to realize a complicated operation close to that of a human hand, these complexities are factors that make it difficult to introduce. .
　さらに密閉されたゴム状の袋と、当該ゴム袋に充填された粉体とを有し、粉粒体のJamming転移を利用した把持装置が開発されている（例えば、特許文献３）。この把持装置は、ゴム袋をワークに追従させた状態で把持できるので、簡単な制御で様々なワークに対応することができる。 Further, a gripping device having a sealed rubber-like bag and powder filled in the rubber bag and utilizing the Jamming transition of the granular material has been developed (for example, Patent Document 3). Since this gripping device can grip the rubber bag in a state of following the workpiece, it can handle various workpieces with simple control.
特開２００９－１２５８５１号公報JP 2009-125851 A 特開２０１２－１９２４９６号公報JP 2012-192896 A 特表２０１３－５２３４７８号公報Special table 2013-523478 gazette
　しかしながら、上記特許文献３に係る把持装置は、把持力を発現するために強い力でワークへ押し付ける必要があるので、食品のような柔軟なワークを傷つけてしまうという問題がある。また把持装置は、ワークへ押し付ける力が弱い場合、ゴム袋のワークに対する追従性が著しく低下するので、把持できるワークが限られてしまう。 However, since the gripping device according to Patent Document 3 needs to be pressed against the workpiece with a strong force in order to develop a gripping force, there is a problem that a flexible workpiece such as food is damaged. Moreover, since the followability with respect to the workpiece | work of a rubber bag falls remarkably when the force pressed against a workpiece | work is weak, the holding | grip apparatus will restrict | limit the workpiece | work which can be hold | gripped.
　本発明は、汎用性をより向上することができる把持装置及び産業用ロボットを提供することを目的とする。 An object of the present invention is to provide a gripping device and an industrial robot that can further improve versatility.
　本発明に係る把持装置は、掌部と、前記掌部の周囲に突出して設けられ、前記掌部を厚さ方向に変形させることにより前記掌部に向かって倒れる複数の指部とを有する袋状の把持本体と、前記指部内に設けられた充填材と、前記掌部の外周の収縮を防ぐ形状保持部と、複数の前記指部のうち選択された前記指部を伸びた状態で保持する指保持部とを備えることを特徴とする。 A gripping device according to the present invention is a bag having a palm portion and a plurality of finger portions that are provided to project around the palm portion and fall toward the palm portion by deforming the palm portion in the thickness direction. -Shaped gripping main body, a filler provided in the finger part, a shape holding part that prevents contraction of the outer periphery of the palm part, and the finger part selected from the plurality of finger parts is held in an extended state And a finger holding part.
　本発明に係る産業用ロボットは、上記把持装置を設けたことを特徴とする。 The industrial robot according to the present invention is characterized in that the gripping device is provided.
　本発明によれば、指保持部を備えることにより、把持本体内を減圧するだけで、選択された指部を伸びた状態に保持し、他の指部のみを掌部に向かって倒れるように弾性変形させることができるので、汎用性をより向上することができる。。 According to the present invention, by providing the finger holding portion, the selected finger portion is held in an extended state only by decompressing the inside of the gripping body, and only the other finger portions are tilted toward the palm portion. Since it can be elastically deformed, versatility can be further improved. .
第１実施形態に係る把持装置を適用した産業用ロボットの例を示す模式図である。It is a schematic diagram which shows the example of the industrial robot to which the holding | grip apparatus which concerns on 1st Embodiment is applied. 第１実施形態に係る把持装置の構成を示す斜視図である。It is a perspective view showing composition of a grasping device concerning a 1st embodiment. 第１実施形態に係る把持装置の使用状態を示す斜視図である。It is a perspective view which shows the use condition of the holding | gripping apparatus which concerns on 1st Embodiment. 第１実施形態に係る把持装置の構成を示す部分縦端面図である。It is a partial vertical end view which shows the structure of the holding | gripping apparatus which concerns on 1st Embodiment. 形状保持部の構成を示す斜視図である。It is a perspective view which shows the structure of a shape holding part. 第１実施形態に係る把持装置の構成を示す横断面図である。It is a cross-sectional view which shows the structure of the holding | gripping apparatus which concerns on 1st Embodiment. 第１実施形態に係る把持装置の使用状態（１）を示す部分端面図である。It is a fragmentary end view which shows the use condition (1) of the holding | gripping apparatus which concerns on 1st Embodiment. 第１実施形態に係る把持装置の使用状態（１）を示す図６におけるＡ－Ａ端面図である。FIG. 7 is an AA end view in FIG. 6 showing a use state (1) of the gripping device according to the first embodiment. 第２実施形態に係る把持装置の構成を示す部分縦端面図である。It is a fragmentary longitudinal end view which shows the structure of the holding | gripping apparatus which concerns on 2nd Embodiment. 第２実施形態に係る把持装置の構成を示す横断面図である。It is a cross-sectional view which shows the structure of the holding | gripping apparatus which concerns on 2nd Embodiment. 第２実施形態に係る把持装置の使用状態（１）を示す部分端面図である。It is a fragmentary end view which shows the use condition (1) of the holding | gripping apparatus which concerns on 2nd Embodiment. 第２実施形態に係る把持装置の使用状態（２）を示す部分端面図である。It is a fragmentary end view which shows the use condition (2) of the holding | gripping apparatus which concerns on 2nd Embodiment. 把持装置の変形例（１）を示す斜視図であり、図１３Ａは指部の長さが小の場合、図１３Ｂは指部の長さが中の場合、図１３Ｃは指部の長さが大の場合である。FIG. 13A is a perspective view showing a modification (1) of the gripping device, FIG. 13A shows a case where the length of the finger portion is small, FIG. 13B shows a case where the length of the finger portion is medium, and FIG. This is the case. 把持装置の変形例（２）を示す斜視図であり、図１４Ａは指部の長さが小の場合、図１４Ｂは指部の長さが中の場合、図１４Ｃは指部の長さが大の場合である。FIG. 14A is a perspective view showing a modification (2) of the gripping device, FIG. 14A shows a case where the length of the finger portion is small, FIG. 14B shows a case where the length of the finger portion is medium, and FIG. This is the case. 把持装置の変形例（３）を示す斜視図であり、図１５Ａは指部の長さが小の場合、図１５Ｂは指部の長さが中の場合、図１５Ｃは指部の長さが大の場合である。FIG. 15A is a perspective view showing a modified example (3) of the gripping device, FIG. 15A shows a case where the length of the finger portion is small, FIG. 15B shows a case where the length of the finger portion is medium, and FIG. This is the case.
　以下、図面を参照して本発明の実施形態について詳細に説明する。 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
１．第１実施形態
（全体構成）
　図１に、本実施形態に係る把持装置１０Ａを適用した産業用ロボット１２の構成を示す。産業用ロボット１２は、直交ロボットであって、レール１４と、レール１４に沿って移動する移動体１６と、移動体１６に固定されたエアシリンダ１８とを備える。レール１４は、図中Ｙ軸方向に移動可能に設けられている。 1. First embodiment (overall configuration)
FIG. 1 shows a configuration of an industrial robot 12 to which the gripping device 10A according to the present embodiment is applied. The industrial robot 12 is an orthogonal robot, and includes a rail 14, a moving body 16 that moves along the rail 14, and an air cylinder 18 that is fixed to the moving body 16. The rail 14 is provided so as to be movable in the Y-axis direction in the drawing.
　エアシリンダ１８は、シリンダーチューブ１９と、シリンダーチューブ１９に対し進退可能に設けられたピストンロッド２０とを有する。シリンダーチューブ１９には、配管２１、２２が設けられている。当該配管２１、２２を通じて気体が給排気されることにより、ピストンロッド２０がシリンダーチューブ１９に対し進退可能となっている。ピストンロッド２０の先端には、把持装置１０Ａが設けられている。 The air cylinder 18 has a cylinder tube 19 and a piston rod 20 provided so as to be movable forward and backward with respect to the cylinder tube 19. The cylinder tube 19 is provided with pipes 21 and 22. By supplying and exhausting gas through the pipes 21 and 22, the piston rod 20 can advance and retract with respect to the cylinder tube 19. A gripping device 10 </ b> A is provided at the tip of the piston rod 20.
　産業用ロボット１２は、水平な基台２６上に置かれたワークＷを、把持装置１０Ａで把持すると共に、Ｘ軸、Ｙ軸、及びＺ軸方向に移動することができる。 The industrial robot 12 can grip the workpiece W placed on the horizontal base 26 with the gripping device 10A and move in the X-axis, Y-axis, and Z-axis directions.
　把持装置１０Ａは、ピストンロッド２０に連結されたケース３６と、当該ケース３６に固定された把持本体２８Ａとを備える。ケース３６には、配管２４が連結されている。把持本体２８Ａは、気密性と弾性とを有する材料、例えば、天然ゴムや、合成ゴムなどで形成することができる。把持本体２８ＡのＪＩＳ　Ｋ６２５３のデュロメータ硬さ試験(タイプＡ)に準じて測定した硬度は、６０～９０程度であるのが好ましい。 The gripping device 10 </ b> A includes a case 36 connected to the piston rod 20 and a gripping body 28 </ b> A fixed to the case 36. A pipe 24 is connected to the case 36. The grip body 28A can be formed of a material having airtightness and elasticity, for example, natural rubber or synthetic rubber. The hardness measured according to the JIS K6253 durometer hardness test (type A) of the gripping body 28A is preferably about 60 to 90.
　図２に示すように把持本体２８Ａは、掌部３０と、掌部３０の周囲に突出して設けられた複数の指部３２とを有する。掌部３０は略円盤状をなしている。指部３２は、掌部３０と一体に形成されており、掌部３０を囲むように放射状に３個、すなわち第１指部３２Ｘ、第２指部３２Ｙ、第３指部３２Ｚが設けられている。本明細書では、第１指部３２Ｘ、第２指部３２Ｙ、第３指部３２Ｚを特に区別しない場合、総称して指部３２とする。指部３２同士の間には、所定の間隔が形成されている。指部３２は、内面３１が掌部３０と一体に形成されている。指部３２の外形形状は、適宜選択することができ、例えば、円柱、円錐、円錐台、三角柱、四角柱、三角錐、四角錐、四角錐台などでもよい。本実施形態の場合、指部３２は、同一形状で構成されている。なお複数の指部３２は、全て同一形状である必要はなく、形状が異なっていてもよい。指部３２は、四角錐台形状を有し、内面３１が、掌部３０に接合している基端から先端に向かって外側に傾斜するように形成されている。 As shown in FIG. 2, the gripping main body 28 </ b> A has a palm portion 30 and a plurality of finger portions 32 provided so as to protrude around the palm portion 30. The palm 30 has a substantially disk shape. The finger part 32 is formed integrally with the palm part 30 and is provided with three radial parts, that is, a first finger part 32X, a second finger part 32Y, and a third finger part 32Z so as to surround the palm part 30. Yes. In this specification, the first finger part 32X, the second finger part 32Y, and the third finger part 32Z are collectively referred to as the finger part 32 unless particularly distinguished. A predetermined interval is formed between the finger portions 32. The finger portion 32 has an inner surface 31 formed integrally with the palm portion 30. The external shape of the finger part 32 can be selected as appropriate, and may be, for example, a cylinder, a cone, a truncated cone, a triangular prism, a quadrangular prism, a triangular pyramid, a quadrangular pyramid, a quadrangular pyramid, or the like. In the case of this embodiment, the finger part 32 is comprised by the same shape. Note that the plurality of finger portions 32 need not all have the same shape, and may have different shapes. The finger part 32 has a quadrangular frustum shape, and the inner surface 31 is formed so as to incline outward from the proximal end joined to the palm part 30 toward the distal end.
　把持本体２８Ａは、掌部３０を厚さ方向（図２、矢印方向）に変形させる力が作用すると、選択された指部３２（本図の場合、第２指部３２Ｙ及び第３指部３２Ｚ）を伸びた状態に保持すると共に、選択された以外の指部３２（本図の場合、第１指部３２Ｘ）のみが掌部３０へ向かって倒れるように弾性変形する（図３）。 When a force that deforms the palm portion 30 in the thickness direction (the arrow direction in FIG. 2) is applied to the grasping main body 28A, the selected finger portion 32 (in this case, the second finger portion 32Y and the third finger portion 32Z). ) In an extended state, and elastically deforms so that only the finger part 32 other than the selected one (in the case of the present figure, the first finger part 32X) falls toward the palm part 30 (FIG. 3).
　図４に示すように把持本体２８Ａは、掌部３０及び指部３２が形成されている表面とは逆側の面に開口を有する袋状の部材からなる。把持本体２８Ａは、内部に、弾性部３４と、形状保持部３８と、指保持部４２とを有する。把持本体２８Ａは、開口の周縁に一体形成されたフランジ部３３においてケース３６に固定されており、当該ケース３６によって開口が密閉されている。 As shown in FIG. 4, the gripping main body 28 </ b> A is made of a bag-like member having an opening on the surface opposite to the surface on which the palm portion 30 and the finger portion 32 are formed. The grip body 28A includes an elastic part 34, a shape holding part 38, and a finger holding part 42 therein. The gripping main body 28A is fixed to the case 36 at a flange portion 33 formed integrally with the periphery of the opening, and the opening is sealed by the case 36.
　ケース３６には、貫通穴３７が設けられている。配管２４は、一端が、貫通穴３７に挿入され、把持本体２８Ａに通じている。配管２４の他端は、図示しないが、例えば三方弁を介して真空ポンプに接続されている。三方弁は、真空ポート、給排気ポート、大気解放ポートを有し、真空ポートが真空ポンプに、給排気ポートが把持装置１０Ａに、大気解放ポートが外部にそれぞれ接続される。当該配管２４を通じて、気体が、把持本体２８Ａの内から外へ、及び把持本体２８Ａの外から内へ、流通する。 The case 36 is provided with a through hole 37. One end of the pipe 24 is inserted into the through hole 37 and communicates with the grip body 28A. Although not shown, the other end of the pipe 24 is connected to a vacuum pump through a three-way valve, for example. The three-way valve has a vacuum port, a supply / exhaust port, and an atmosphere release port, and the vacuum port is connected to the vacuum pump, the supply / exhaust port is connected to the gripping device 10A, and the atmosphere release port is connected to the outside. Through the pipe 24, gas flows from the inside of the gripping body 28A to the outside and from the outside of the gripping body 28A.
　弾性部３４は、指部３２内に充填され、当該指部３２の形を有する。弾性部３４の形は、把持本体２８Ａの指部３２内に挿入され一定の形を保持できれば、指部３２の内面との間に多少隙間が生じていてもよい。弾性部３４の材質は、樹脂またはゴムであるのが好ましい。弾性部３４の材質は、必ずしも均一である必要はなく、異種材料を組み合わせた複合材でもよい。弾性部３４は、フィラーなどの添加物を含んでもよい。弾性部３４は、指部３２の内面との間に、隙間がないように配置されるのが好ましい。弾性部３４は、掌部３０を超えて把持本体２８Ａの大半に充填されると、掌部３０が厚さ方向に変形せず指部３２が掌部３０の中心に向かって弾性変形し難くなる。したがって弾性部３４は、指部３２内に配置されるのが好ましい。弾性部３４の基端の形状は、平面形状とされている。 The elastic part 34 is filled in the finger part 32 and has the shape of the finger part 32. As long as the shape of the elastic part 34 is inserted into the finger part 32 of the gripping main body 28 </ b> A and can maintain a certain shape, a slight gap may be formed between the inner part of the finger part 32. The material of the elastic part 34 is preferably resin or rubber. The material of the elastic portion 34 is not necessarily uniform, and may be a composite material in which different materials are combined. The elastic part 34 may include an additive such as a filler. The elastic part 34 is preferably arranged so that there is no gap between the elastic part 34 and the inner surface of the finger part 32. When the elastic portion 34 is filled in most of the gripping main body 28 </ b> A beyond the palm portion 30, the palm portion 30 is not deformed in the thickness direction, and the finger portion 32 is hardly elastically deformed toward the center of the palm portion 30. . Therefore, the elastic part 34 is preferably disposed in the finger part 32. The shape of the base end of the elastic part 34 is a planar shape.
　形状保持部３８は、把持本体２８Ａの掌部３０の内部空間に配置されている。形状保持部３８は、掌部３０以外、すなわち掌部３０の外周が収縮しないように、把持本体２８Ａを保持する。形状保持部３８の材質は、把持本体２８Ａの減圧下において変形しなければ足り、例えば硬質樹脂や金属を用いることができる。形状保持部３８の材質は、必ずしも均一である必要はなく、異種材料を組み合わせた複合材でもよい。 The shape holding portion 38 is disposed in the internal space of the palm portion 30 of the gripping main body 28A. The shape holding unit 38 holds the grip main body 28 </ b> A so that other than the palm unit 30, that is, the outer periphery of the palm unit 30 does not contract. The material of the shape holding part 38 is sufficient as long as it does not deform under the reduced pressure of the gripping main body 28A. For example, hard resin or metal can be used. The material of the shape holding portion 38 is not necessarily uniform, and may be a composite material in which different materials are combined.
　本図に示す形状保持部３８は、変形した掌部３０を受け入れるガイド穴４０と、ガイド穴４０の軸方向の指部３２側先端の外側に湾曲部４９とを有する枠状部材である。本実施形態の場合、形状保持部３８は、掌部３０の外周面３９を保持する保持面４８を有する円筒状部材である。ガイド穴４０は、掌部３０に対応した形状保持部３８の中央であって、内径が掌部３０と略同じ大きさであるのが好ましい。保持面４８は、形状保持部３８の外側の円周面であり、掌部３０の外周面３９を保持できる大きさを有し、全体として先端に向かって先細になっている。保持面４８の指部３２側に湾曲部４９が設けられている。湾曲部４９は、外側に向かって凸形状である。 The shape holding portion 38 shown in the figure is a frame-like member having a guide hole 40 for receiving the deformed palm portion 30 and a curved portion 49 outside the tip of the guide hole 40 on the finger portion 32 side in the axial direction. In the case of this embodiment, the shape holding portion 38 is a cylindrical member having a holding surface 48 that holds the outer peripheral surface 39 of the palm portion 30. The guide hole 40 is preferably at the center of the shape holding portion 38 corresponding to the palm portion 30 and has an inner diameter that is substantially the same as that of the palm portion 30. The holding surface 48 is a circumferential surface outside the shape holding portion 38, has a size capable of holding the outer peripheral surface 39 of the palm portion 30, and is tapered toward the tip as a whole. A bending portion 49 is provided on the finger portion 32 side of the holding surface 48. The curved portion 49 is convex toward the outside.
　湾曲部４９とガイド穴４０が面で交差する形状保持部３８の指部側先端は、面取り加工が施されているのが好ましい。面取り加工は、形状保持部３８の指部側先端を削り、角面や丸面とする加工が適用できる。形状保持部３８は、面取り加工が施されていることにより、上記先端における欠けなどの破損を防止することができる。 It is preferable that a chamfering process is applied to the finger-side tip of the shape holding portion 38 where the curved portion 49 and the guide hole 40 intersect at a surface. The chamfering can be applied by cutting the tip of the shape holding part 38 on the finger side to form a square surface or a round surface. Since the shape holding part 38 is chamfered, it can prevent breakage such as chipping at the tip.
　形状保持部３８は、当該形状保持部３８の外径とガイド穴４０の内径の比が１．０：０．９３～１．０：０．５であるのが好ましい。例えば、形状保持部３８の外径が８０ｍｍの場合、ガイド穴４０の内径が６０～７０ｍｍの範囲であれば、指部３２は掌部３０の中心に向かってより確実に弾性変形する。 The shape holding part 38 preferably has a ratio of the outer diameter of the shape holding part 38 to the inner diameter of the guide hole 40 of 1.0: 0.93 to 1.0: 0.5. For example, when the outer diameter of the shape holding portion 38 is 80 mm and the inner diameter of the guide hole 40 is in the range of 60 to 70 mm, the finger portion 32 is more reliably elastically deformed toward the center of the palm portion 30.
　形状保持部３８の指部側先端の位置は、当該形状保持部３８の径方向における弾性部３４の基端の中心位置よりも外側に位置するのが好ましい。これにより、指部３２が掌部３０の中心に向かって弾性変形する際に、形状保持部３８の指部側先端と弾性部３４の基端が上記の位置で接触する。この結果、指部３２は、上記の接触部分を支点として、掌部３０の中心に向かって容易に弾性変形する。 It is preferable that the position of the distal end of the shape holding portion 38 on the finger side is located outside the center position of the base end of the elastic portion 34 in the radial direction of the shape holding portion 38. Thereby, when the finger part 32 elastically deforms toward the center of the palm part 30, the finger part side distal end of the shape holding part 38 and the proximal end of the elastic part 34 come into contact with each other at the above position. As a result, the finger part 32 is easily elastically deformed toward the center of the palm part 30 with the contact part as a fulcrum.
　指保持部４２は、形状保持部３８のガイド穴４０内に配置され、掌部３０の一部の変形を押える接触面４４を有する。本図の場合、接触面４４は、掌部３０の裏面に接触している。指保持部４２は、形状保持部３８で例示したような材質が適用され、形状保持部３８と同じでも異なる材質でもよい。指保持部４２の接触面４４は、形状保持部３８の保持面４８と滑らかに接続している。指保持部４２の高さは、形状保持部３８と略同じである。指保持部４２は、接触面４４が掌部３０の一部に接触することにより、当該掌部３０の一部を厚さ方向に変形しないように保持する。ガイド穴４０内の、指保持部４２が配置されていない部分は、空間である。当該空間における掌部３０は、厚さ方向に変形し得る。 The finger holding part 42 is disposed in the guide hole 40 of the shape holding part 38 and has a contact surface 44 that suppresses a part of the deformation of the palm part 30. In the case of this figure, the contact surface 44 is in contact with the back surface of the palm 30. The finger holding part 42 is applied with the material exemplified in the shape holding part 38, and may be the same as or different from the shape holding part 38. The contact surface 44 of the finger holding unit 42 is smoothly connected to the holding surface 48 of the shape holding unit 38. The height of the finger holding part 42 is substantially the same as that of the shape holding part 38. The finger holding part 42 holds a part of the palm part 30 so as not to be deformed in the thickness direction when the contact surface 44 contacts a part of the palm part 30. A portion of the guide hole 40 where the finger holding portion 42 is not disposed is a space. The palm 30 in the space can be deformed in the thickness direction.
　図５に示すように、形状保持部３８は、同心円状に配置された複数、本図の場合、２個のリング体４５、４６を有する。各リング体４５、４６は、軸方向に移動可能、取り外し可能である。 As shown in FIG. 5, the shape holding portion 38 has a plurality of concentric circles, two ring bodies 45 and 46 in the case of this figure. Each ring body 45, 46 is movable and removable in the axial direction.
　図６に示すように、指保持部４２は、第１指部３２Ｘに対応する部分が扇状に切り欠かれた切欠部５０と、第２指部３２Ｙ及び第３指部３２Ｚに対応する中実部５２とを有する。指保持部４２は、形状保持部３８に対し、軸方向に移動可能、取り外し可能である。 As shown in FIG. 6, the finger holding part 42 has a solid part corresponding to the notch part 50 in which the part corresponding to the first finger part 32X is cut out in a fan shape, and the second finger part 32Y and the third finger part 32Z. Part 52. The finger holding part 42 is movable and removable in the axial direction with respect to the shape holding part 38.
（動作及び効果）
　上記のように構成された把持装置１０Ａが設けられた産業用ロボット１２の動作及び効果について説明する。以下の説明では、第２指部３２Ｙ及び第３指部３２Ｚを選択された指部３２とし、第２指部３２Ｙ及び第３指部３２Ｚを伸びた状態で保持することとする。 (Operation and effect)
The operation and effect of the industrial robot 12 provided with the gripping device 10A configured as described above will be described. In the following description, it is assumed that the second finger portion 32Y and the third finger portion 32Z are selected finger portions 32, and the second finger portion 32Y and the third finger portion 32Z are held in an extended state.
　産業用ロボット１２は、ピストンロッド２０がシリンダーチューブ１９内に退避し、エアシリンダ１８が収縮した状態を原点とする。また把持装置１０Ａは、初期状態において把持本体２８Ａ内の圧力が大気圧である。すなわち三方弁は、真空ポートが遮断され、給排気ポートが大気解放ポートと繋がっている状態である。 The industrial robot 12 uses the state where the piston rod 20 is retracted in the cylinder tube 19 and the air cylinder 18 is contracted as the origin. In the gripping device 10A, the pressure in the gripping main body 28A is atmospheric pressure in the initial state. That is, the three-way valve is in a state where the vacuum port is shut off and the supply / exhaust port is connected to the atmosphere release port.
　産業用ロボット１２は、移動体１６がレール１４に沿って移動することで、基台２６上に置かれたワークＷの鉛直線上に把持装置１０Ａを位置決めする（図１）。次いで、産業用ロボット１２は、ピストンロッド２０がシリンダーチューブ１９から進出することにより、指部３２がワークＷの側面に到達するまで、エアシリンダ１８を伸長させる。 The industrial robot 12 positions the gripping device 10A on the vertical line of the workpiece W placed on the base 26 as the moving body 16 moves along the rail 14 (FIG. 1). Next, the industrial robot 12 extends the air cylinder 18 until the finger portion 32 reaches the side surface of the workpiece W by the piston rod 20 advancing from the cylinder tube 19.
　次いで三方弁は、大気解放ポートが遮断され、給排気ポートが真空ポートと繋がった状態に切り替えられる。これにより把持装置１０Ａは、配管２４を通じて、把持本体２８Ａ内の気体を吸引し、把持本体２８Ａ内の圧力を例えば－０．０３ＭＰａ以下に減圧する。 Next, the three-way valve is switched to a state where the air release port is shut off and the air supply / exhaust port is connected to the vacuum port. Accordingly, the gripping device 10A sucks the gas in the gripping main body 28A through the pipe 24, and reduces the pressure in the gripping main body 28A to, for example, −0.03 MPa or less.
　把持本体２８Ａは、形状保持部３８により掌部３０の外周面３９の形状が保持された状態を維持する。さらに指保持部４２は、第２指部３２Ｙ及び第３指部３２Ｚに対応する掌部３０が厚さ方向に変形するのを防ぐ。そうすると掌部３０の第１指部３２Ｘに対応する部分が、形状保持部３８のガイド穴４０と切欠部５０に囲まれた空間に吸い込まれるようにして厚さ方向に変形する（図７）。掌部３０が厚さ方向へ変形するのに伴い、第１指部３２Ｘの内面３１が掌部３０の中心へ引っ張られる。そうすると第１指部３２Ｘは、掌部３０へ向かって倒れるように弾性変形する。これにより第１指部３２Ｘは、主に内面３１がワークＷ表面に接触する。本図に示す立方体のワークＷの場合、第１指部３２ＸはワークＷの側面に接触する。一方、第２指部３２Ｙは、指保持部４２の接触面４４が第２指部３２Ｙに対応する掌部３０に接触し、当該部分の掌部３０が厚さ方向に変形するのを防いでいるので、伸びた状態に保持される（図８）。図示しないが第３指部３２Ｚも、第２指部３２Ｙと同様、伸びた状態に保持される。 The grip body 28A maintains a state in which the shape of the outer peripheral surface 39 of the palm 30 is held by the shape holding unit 38. Furthermore, the finger holding part 42 prevents the palm part 30 corresponding to the second finger part 32Y and the third finger part 32Z from being deformed in the thickness direction. Then, the part corresponding to the first finger part 32X of the palm part 30 is deformed in the thickness direction so as to be sucked into the space surrounded by the guide hole 40 and the notch part 50 of the shape holding part 38 (FIG. 7). As the palm part 30 is deformed in the thickness direction, the inner surface 31 of the first finger part 32X is pulled toward the center of the palm part 30. Then, the first finger part 32X is elastically deformed so as to fall toward the palm part 30. Thereby, as for the 1st finger part 32X, the inner surface 31 mainly contacts the workpiece | work W surface. In the case of the cubic workpiece W shown in the figure, the first finger portion 32X contacts the side surface of the workpiece W. On the other hand, the second finger part 32Y prevents the contact surface 44 of the finger holding part 42 from coming into contact with the palm part 30 corresponding to the second finger part 32Y, and the palm part 30 of the part is prevented from being deformed in the thickness direction. Thus, the stretched state is maintained (FIG. 8). Although not shown, the third finger portion 32Z is also held in an extended state, like the second finger portion 32Y.
　上記のように把持装置１０Ａは、把持本体２８Ａ内を減圧することにより、第１指部３２Ｘのみを弾性変形させる。把持装置１０Ａは、当該第１指部３２Ｘと、伸びた状態で保持された第２指部３２Ｙ及び第３指部３２Ｚの間にワークＷを挟むことにより、ワークＷを把持する。 As described above, the gripping device 10A elastically deforms only the first finger portion 32X by reducing the pressure inside the gripping main body 28A. The gripping device 10A grips the workpiece W by sandwiching the workpiece W between the first finger portion 32X and the second finger portion 32Y and the third finger portion 32Z held in an extended state.
　把持装置１０Ａは、把持本体２８Ａ内の圧力に応じ第１指部３２Ｘの変形量を変えることができる。この場合、把持装置１０Ａは、把持本体２８Ａ内の圧力が低い程、第１指部３２Ｘを掌部３０に向かってより鋭角に変形させることができる。したがって把持装置１０Ａは、より鋭角に変形させた第１指部３２Ｘと、伸びた状態で保持された第２指部３２Ｙ及び第３指部３２Ｚの間に挟んで、より小さなワークＷを把持することができる。 The gripping device 10A can change the deformation amount of the first finger portion 32X according to the pressure in the gripping main body 28A. In this case, the gripping device 10 </ b> A can deform the first finger part 32 </ b> X to an acute angle toward the palm part 30 as the pressure in the gripping main body 28 </ b> A is low. Therefore, the gripping device 10A grips a smaller work W by sandwiching it between the first finger part 32X deformed at an acute angle and the second finger part 32Y and the third finger part 32Z held in an extended state. be able to.
　次いで産業用ロボット１２は、ピストンロッド２０をシリンダーチューブ１９内に退避させてエアシリンダ１８を収縮することにより、ワークＷを基台２６から持ち上げることができる。さらに産業用ロボット１２は、移動体１６がレール１４に沿って移動したり、レール１４がＹ軸方向に移動したりすることにより、水平方向へワークＷを自在に移動することができる。 Next, the industrial robot 12 can lift the workpiece W from the base 26 by retracting the piston rod 20 into the cylinder tube 19 and contracting the air cylinder 18. Furthermore, the industrial robot 12 can move the workpiece W freely in the horizontal direction by moving the moving body 16 along the rail 14 or moving the rail 14 in the Y-axis direction.
　所望の場所へ移動した後、産業用ロボット１２は、ピストンロッド２０がシリンダーチューブ１９から進出することにより、ワークＷが基台２６に接触するまでエアシリンダ１８を伸長させる。次いで、三方弁は、真空ポートが遮断され、給排気ポートが大気解放ポートと繋がっている状態に切り替えられる。そうすると把持本体２８Ａ内へ大気解放ポートから配管２４を通じて気体が流入する。把持本体２８Ａ内の圧力が大気圧に戻るのに伴い、掌部３０がガイド穴４０から押し出され元の状態に戻る。掌部３０が元の状態に戻るのに伴い、第１指部３２Ｘが伸びた状態になり、ワークＷを手放す。 After moving to the desired location, the industrial robot 12 extends the air cylinder 18 until the workpiece W contacts the base 26 by the piston rod 20 moving from the cylinder tube 19. Next, the three-way valve is switched to a state in which the vacuum port is shut off and the supply / exhaust port is connected to the atmosphere release port. Then, the gas flows into the holding body 28A from the atmosphere release port through the pipe 24. As the pressure in the gripping main body 28A returns to atmospheric pressure, the palm 30 is pushed out of the guide hole 40 and returns to its original state. As the palm portion 30 returns to the original state, the first finger portion 32X is extended and the workpiece W is released.
　次いで、産業用ロボット１２は、ピストンロッド２０をシリンダーチューブ１９内に退避させてエアシリンダ１８を収縮することにより、把持装置１０ＡをワークＷから切り離す。以上のようにして産業用ロボット１２は、基台２６上に置かれたワークＷを、把持装置１０Ａで把持することにより、所望の位置へ移動することができる。 Next, the industrial robot 12 separates the gripping device 10 </ b> A from the workpiece W by retracting the piston rod 20 into the cylinder tube 19 and contracting the air cylinder 18. As described above, the industrial robot 12 can move to a desired position by gripping the workpiece W placed on the base 26 with the gripping device 10A.
　把持装置１０Ａは、指保持部４２を備えることにより、把持本体２８Ａ内を減圧するだけで、第１指部３２Ｘのみを掌部３０に向かって倒れるように弾性変形させることができるので、汎用性をより向上することができる。本実施形態の場合、第１指部３２Ｘのみが弾性変形する場合について説明したが、本発明はこれに限らず、第２指部３２Ｙのみ、又は第３指部３２Ｚのみが弾性変形することとしてもよい。さらに、把持装置１０Ａは、いずれか２個の指部３２を掌部３０に向かって倒れるように弾性変形させることとしてもよい。この場合、指保持部は、図示しないが、２個の指部３２に対応して切り欠かれた切欠部と、１個の指部３２に対応する中実部とを有する。把持装置は、いずれか２個の指部３２に切欠部を合わせて指保持部を把持本体２８Ａ内に配置することにより、２個の指部３２のみを掌部３０に向かって倒れるように弾性変形させると同時に、選択された１個の指部３２を伸びた状態に保持することができる。 Since the gripping device 10A includes the finger holding portion 42, only the first finger portion 32X can be elastically deformed so as to fall toward the palm portion 30 only by decompressing the inside of the gripping main body 28A. Can be further improved. In the present embodiment, the case where only the first finger portion 32X is elastically deformed has been described. However, the present invention is not limited to this, and only the second finger portion 32Y or only the third finger portion 32Z is elastically deformed. Also good. Furthermore, the gripping device 10 </ b> A may be elastically deformed so that any two finger portions 32 fall down toward the palm portion 30. In this case, although not shown, the finger holding portion has a cutout portion cut out corresponding to the two finger portions 32 and a solid portion corresponding to the one finger portion 32. The gripping device is elastic so that only two fingers 32 are tilted toward the palm 30 by aligning the notch with any two fingers 32 and placing the finger holding part in the gripping body 28A. Simultaneously with the deformation, the selected one finger portion 32 can be held in the extended state.
　また指保持部４２は、第２指部３２Ｙ及び第３指部３２Ｚに対応した中実部５２を有する場合について説明したが、中実部５２は各指部３２に分割されていてもよい。この場合、各中実部同士の間には、図示しないが、仕切り板を設けることとしてもよい。 Moreover, although the case where the finger holding part 42 has the solid part 52 corresponding to the 2nd finger part 32Y and the 3rd finger part 32Z was demonstrated, the solid part 52 may be divided | segmented into each finger part 32. FIG. In this case, although not shown, a partition plate may be provided between the solid portions.
　把持装置１０Ａは、把持本体２８Ａ内に、指部３２の形状を有する弾性部３４と、形状保持部３８を有することにより、粉体を用いず、より確実にワークＷを把持することができる。把持装置１０Ａは、粉体を用いていないので、万一、把持本体２８Ａが破裂しても、ワークＷを汚染することがない。 The gripping device 10A can grip the workpiece W more reliably without using powder by having the elastic portion 34 having the shape of the finger portion 32 and the shape holding portion 38 in the gripping main body 28A. Since the gripping device 10A does not use powder, even if the gripping main body 28A ruptures, the workpiece W is not contaminated.
　弾性部３４は、指部３２の形状を有するので、指部３２の先端が下向きの状態だけでなく、横向きや上向きの状態であっても、指部３２内に留まる。したがって把持装置１０Ａは、基台上のワークＷを持ち上げるだけでなく、垂直な壁面や、天井に吊り下げられたワークＷを把持することができる。指部３２の形状を有する弾性部３４は、Jamming転移後の粉体に比べ剛性が高いので、より確実にワークＷを把持することができる。 Since the elastic part 34 has the shape of the finger part 32, the elastic part 34 stays in the finger part 32 not only in a state where the tip of the finger part 32 faces downward but also in a sideways or upward state. Accordingly, the gripping device 10A can not only lift the workpiece W on the base but also grip the workpiece W suspended on a vertical wall surface or ceiling. Since the elastic portion 34 having the shape of the finger portion 32 has higher rigidity than the powder after the jamming transition, the workpiece W can be gripped more reliably.
　把持装置１０Ａは、把持本体２８Ａを減圧して掌部３０を確実に厚さ方向に変形させることにより、ワークＷを把持することができるので、把持本体２８ＡをワークＷに押し付ける必要がない。したがって把持装置１０Ａは、食品などの柔らかいワークＷを押し潰さずに把持できるので、ワークＷの損傷を防止することができる。 The gripping device 10A can grip the workpiece W by depressurizing the gripping main body 28A and reliably deforming the palm portion 30 in the thickness direction, so there is no need to press the gripping main body 28A against the workpiece W. Accordingly, the gripping device 10A can grip a soft work W such as food without being crushed, and thus can prevent the work W from being damaged.
　形状保持部３８は、同心円状に配置された複数のリング体４５、４６を適宜取り外すことにより、ガイド穴４０の大きさや、外形の大きさを変更することができる。したがって、形状保持部３８は、把持本体２８Ａの外周面３９の大きさや、掌部３０の大きさに合わせ、リング体４５、４６を選択することにより、調整することができるので、汎用性をさらに向上することができる。形状保持部３８は、最も内側に配置されたリング体４５の穴がガイド穴４０であり、最も外側に配置されたリング体４６の円周面が保持面４８である。 The shape holding unit 38 can change the size of the guide hole 40 and the size of the outer shape by appropriately removing the plurality of ring bodies 45 and 46 arranged concentrically. Therefore, the shape holding part 38 can be adjusted by selecting the ring bodies 45 and 46 in accordance with the size of the outer peripheral surface 39 of the gripping main body 28A and the size of the palm part 30. Can be improved. In the shape holding portion 38, the hole of the ring body 45 arranged on the innermost side is the guide hole 40, and the circumferential surface of the ring body 46 arranged on the outermost side is the holding surface 48.
　把持装置１０Ａは、形状保持部３８に湾曲部４９が形成されていることにより、掌部３０が湾曲部４９に接触しながら厚さ方向に変形するので、指保持部の切欠部に対応する指部３２（本実施形態の場合は第１指部３２Ｘ）が連続的、かつ、ゆるやかに変形する。したがって把持装置１０Ａは、柔らかくワークＷを把持することができる。因みに形状保持部に湾曲部が形成されていない把持装置では、指部は座屈するように変形する。 In the gripping device 10A, since the curved portion 49 is formed in the shape holding portion 38, the palm portion 30 is deformed in the thickness direction while being in contact with the curved portion 49. Therefore, the finger corresponding to the notch portion of the finger holding portion is used. The part 32 (first finger part 32X in the case of this embodiment) is continuously and gently deformed. Therefore, the gripping device 10A can grip the workpiece W softly. Incidentally, in the gripping device in which the curved portion is not formed in the shape holding portion, the finger portion is deformed so as to buckle.
２．第２実施形態
　第２実施形態に係る把持装置について説明する。第１実施形態と同様の構成については同様の符号を付し、説明を省略する。図９に示すように把持装置１０Ｂは、ケース３６と、当該ケース３６に固定された把持本体２８Ａとを備える。把持本体２８Ａは、内部に、弾性部３４と、形状保持部３８と、指保持部４２とを有する。さらに本実施形態に係る指保持部４２は、接触面４４が前記掌部３０の一部に接触する位置と、前記掌部３０の一部が厚さ方向に変形して指部３２を弾性変形可能とする位置との間を、移動可能である。把持装置１０Ｂは、指保持部４２を移動させる駆動部としてのエアシリンダ５４を備える。 2. Second Embodiment A gripping device according to a second embodiment will be described. Components similar to those in the first embodiment are denoted by the same reference numerals, and description thereof is omitted. As shown in FIG. 9, the gripping device 10 </ b> B includes a case 36 and a gripping main body 28 </ b> A fixed to the case 36. The grip body 28A includes an elastic part 34, a shape holding part 38, and a finger holding part 42 therein. Furthermore, the finger holding unit 42 according to the present embodiment elastically deforms the finger part 32 by the position where the contact surface 44 contacts a part of the palm part 30 and the part of the palm part 30 deforms in the thickness direction. It is possible to move between possible positions. The gripping device 10 </ b> B includes an air cylinder 54 as a driving unit that moves the finger holding unit 42.
　本実施形態の場合、指保持部４２は、第１指部３２Ｘ、第２指部３２Ｙ、第３指部３２Ｚに対応して、第１中実部５６、第２中実部５８、第３中実部６０を有する（図１０）。エアシリンダ５４は、各中実部に設けられている。各エアシリンダ５４は、第１中実部５６、第２中実部５８、第３中実部６０をそれぞれ独立して移動させる。第１中実部５６、第２中実部５８、第３中実部６０のそれぞれの間には、仕切り板を設けることとしてもよい。 In the case of this embodiment, the finger holding part 42 corresponds to the first finger part 32X, the second finger part 32Y, and the third finger part 32Z, the first solid part 56, the second solid part 58, the third finger part 32X. It has a solid part 60 (FIG. 10). The air cylinder 54 is provided in each solid part. Each air cylinder 54 moves the 1st solid part 56, the 2nd solid part 58, and the 3rd solid part 60 each independently. A partition plate may be provided between each of the first solid part 56, the second solid part 58, and the third solid part 60.
　エアシリンダ５４は、シリンダーチューブ６２と、シリンダーチューブ６２に対し進退可能に設けられたピストンロッド６４と、ピストンロッド６４を退避方向へ押し付けるコイルバネ６６とを有する。シリンダーチューブ６２には、配管６８が設けられている。当該配管６８を通じて、気体が給排気されることにより、ピストンロッド６４がシリンダーチューブ６２に対し進退可能となっている。ピストンロッド６４の先端には、それぞれ第１中実部５６、第２中実部５８、第３中実部６０が固定されている。本図の場合、ピストンロッド６４の先端には第１中実部５６が固定されている。 The air cylinder 54 includes a cylinder tube 62, a piston rod 64 provided so as to be able to advance and retract relative to the cylinder tube 62, and a coil spring 66 that presses the piston rod 64 in the retracting direction. The cylinder tube 62 is provided with a pipe 68. By supplying and exhausting gas through the pipe 68, the piston rod 64 can advance and retreat with respect to the cylinder tube 62. A first solid part 56, a second solid part 58, and a third solid part 60 are fixed to the tip of the piston rod 64, respectively. In the case of this figure, the first solid portion 56 is fixed to the tip of the piston rod 64.
　次に、第１指部３２Ｘを、掌部３０に向かって倒れるように弾性変形させる場合について説明する。把持装置１０Ｂは、シリンダーチューブ６２内の圧力を大気圧とすることで、ピストンロッド６４をシリンダーチューブ６２内に退避させ、エアシリンダ５４を収縮する。次いで、把持本体２８Ａ内を減圧する。そうすると第１指部３２Ｘに対応する掌部３０の一部が、形状保持部３８のガイド穴４０に吸い込まれるようにして厚さ方向に変形する（図１１）。掌部３０が厚さ方向へ変形するのに伴い、第１指部３２Ｘの内面３１が掌部３０の中心へ引っ張られる。そうすると第１指部３２Ｘは、掌部３０へ向かって倒れるように弾性変形する。 Next, a case where the first finger part 32X is elastically deformed so as to fall down toward the palm part 30 will be described. The gripping device 10B retracts the piston rod 64 into the cylinder tube 62 and contracts the air cylinder 54 by setting the pressure in the cylinder tube 62 to atmospheric pressure. Next, the inside of the gripping main body 28A is depressurized. Then, a part of the palm part 30 corresponding to the first finger part 32X is deformed in the thickness direction so as to be sucked into the guide hole 40 of the shape holding part 38 (FIG. 11). As the palm part 30 is deformed in the thickness direction, the inner surface 31 of the first finger part 32X is pulled toward the center of the palm part 30. Then, the first finger part 32X is elastically deformed so as to fall toward the palm part 30.
　次に、第１指部３２Ｘを伸びた状態に保持する場合について説明する。把持装置１０Ｂは、シリンダーチューブ６２内を加圧することで、ピストンロッド６４をシリンダーチューブ６２から進出させ、第１中実部５６の接触面４４が掌部３０に接触するまで、エアシリンダ５４を伸長させる。接触面４４が掌部３０に接触しているので、把持本体２８Ａ内を減圧しても、指保持部４２は、第１指部３２Ｘに対応する掌部３０が厚さ方向に変形するのを防ぐ。このようにして把持装置１０Ｂは、第１指部３２Ｘを伸びた状態に保持する（図１２）。 Next, a case where the first finger part 32X is held in an extended state will be described. The gripping device 10B pressurizes the inside of the cylinder tube 62 to advance the piston rod 64 from the cylinder tube 62, and extends the air cylinder 54 until the contact surface 44 of the first solid portion 56 contacts the palm portion 30. Let Since the contact surface 44 is in contact with the palm portion 30, even if the inside of the gripping main body 28 </ b> A is depressurized, the finger holding portion 42 prevents the palm portion 30 corresponding to the first finger portion 32 </ b> X from deforming in the thickness direction. prevent. In this way, the gripping device 10B holds the first finger portion 32X in an extended state (FIG. 12).
　本実施形態の場合、把持装置１０Ｂは、指保持部４２を備えるので、上記第１実施形態と同様の効果を得ることができる。さらに本実施形態の場合、指保持部４２は各指部３２に対応した第１中実部５６、第２中実部５８、第３中実部６０を有すると共に、エアシリンダ５４によって第１中実部５６、第２中実部５８、第３中実部６０が独立して、接触面４４が前記掌部３０の一部に接触する位置と、前記掌部３０の一部が厚さ方向に変形して指部３２が弾性変形可能となる位置との間を移動できる。把持装置１０Ｂは、上記のように指部３２を選択的に伸びた状態に保持したり弾性変形させたりできるので、より汎用性を向上することができる。 In the case of the present embodiment, since the gripping device 10B includes the finger holding unit 42, it is possible to obtain the same effect as that of the first embodiment. Furthermore, in the case of this embodiment, the finger holding part 42 has a first solid part 56, a second solid part 58, and a third solid part 60 corresponding to each finger part 32, and the first middle part 56 is formed by the air cylinder 54. The position at which the contact surface 44 contacts a part of the palm part 30 and the part of the palm part 30 in the thickness direction are independent of the real part 56, the second solid part 58, and the third solid part 60. It is possible to move between positions where the finger portion 32 can be elastically deformed. Since the gripping device 10B can hold the finger portion 32 in a state of being selectively stretched or elastically deformed as described above, the versatility can be further improved.
３．変形例
　本発明は上記実施形態に限定されるものではなく、本発明の趣旨の範囲内で適宜変更することが可能である。 3. The present invention is not limited to the above-described embodiment, and can be appropriately changed within the scope of the gist of the present invention.
　上記実施形態では、産業用ロボット１２として直交ロボットの例を示したが、本発明はこれに限らず、スカラロボット、垂直多関節ロボットなどに適用することができる。すなわち把持装置１０Ａ、１０Ｂは、産業用ロボットによってＸ軸、Ｙ軸、Ｚ軸を中心に回転しても、ワークＷを把持すると共に、把持した状態を維持することができる。 In the above embodiment, an example of an orthogonal robot is shown as the industrial robot 12, but the present invention is not limited to this, and can be applied to a SCARA robot, a vertical articulated robot, and the like. That is, the gripping devices 10A and 10B can grip the workpiece W and maintain the gripped state even when the industrial robot rotates about the X axis, the Y axis, and the Z axis.
　把持本体２８Ａは、１種の材料で形成してもよいし、複数の異なる材料で形成された膜を積層して形成してもよい。また把持本体２８Ａは、部分的に異なる材料で形成してもよい。把持本体２８Ａの厚さは、一定でなくてもよく、部分的に厚肉部又は薄肉部を設けてもよい。 The grip body 28A may be formed of one kind of material, or may be formed by laminating films formed of a plurality of different materials. The grip body 28A may be formed of partially different materials. The thickness of the gripping main body 28A may not be constant, and a thick part or a thin part may be partially provided.
　把持本体２８Ａと、弾性部３４は、一体であってもよい。この場合、把持本体２８Ａと弾性部３４は、一部又は全部が、同種の材料であってもよいし、異種材料であってもよい。 The grip body 28A and the elastic portion 34 may be integrated. In this case, the gripping main body 28A and the elastic portion 34 may be partially or entirely made of the same material or different materials.
　把持装置１０Ａ、１０Ｂは、指部３２に爪部を設けることとしてもよい。爪部は、合成樹脂製の板状部材や、円錐状部材、サック状の部材を用いることができる。 The gripping devices 10 </ b> A and 10 </ b> B may be provided with a nail portion on the finger portion 32. A plate-shaped member made of synthetic resin, a conical member, or a sac-shaped member can be used for the claw portion.
　上記実施形態の場合、形状保持部３８は、同心円状に配置された複数のリング体を有する場合について説明したが、本発明はこれに限らず、１個のリング体であってもよい。１個のリング体の場合、リング体は気体の流通路を有しているのが好ましい。形状保持部３８は、１個のリング体の場合、把持本体２８Ａと一体であってもよい。形状保持部３８は、円筒状部材に限られず、ガイド穴４０を有する多角柱でもよい。 In the case of the above embodiment, the case where the shape holding portion 38 has a plurality of ring bodies arranged concentrically has been described, but the present invention is not limited to this and may be a single ring body. In the case of a single ring body, the ring body preferably has a gas flow path. In the case of one ring body, the shape holding part 38 may be integrated with the gripping main body 28A. The shape holding portion 38 is not limited to a cylindrical member, and may be a polygonal column having a guide hole 40.
　形状保持部３８は、例えば、平面視において長円形状、多角形や、楕円形などの枠状部材としてもよい。形状保持部３８の外形形状は、長円形、楕円形、多角形など適宜変更することができ、把持本体の形状に合わせてもよい。ガイド穴４０は、円形状に限らず、多角形状であってもよい。形状保持部３８は保持面４８を有している場合について説明したが、本発明はこれに限定されず、保持面４８を省略してもよい。保持面４８を省略する場合は、保持面４８の代わりに掌部３０の外周面３９を保持する保持部材を別途用いることが好ましい。 The shape holding unit 38 may be a frame-shaped member such as an ellipse, a polygon, or an ellipse in plan view. The outer shape of the shape holding portion 38 can be changed as appropriate, such as an oval, an ellipse, or a polygon, and may be matched to the shape of the gripping body. The guide hole 40 is not limited to a circular shape, and may be a polygonal shape. Although the case where the shape holding portion 38 has the holding surface 48 has been described, the present invention is not limited to this, and the holding surface 48 may be omitted. When the holding surface 48 is omitted, it is preferable to separately use a holding member that holds the outer peripheral surface 39 of the palm 30 instead of the holding surface 48.
　上記実施形態の場合、弾性部３４の基端の形状が平面形状の場合について説明したが、本発明はこれに限られない。例えば、弾性部３４の基端の形状は、湾曲部４９の湾曲に合わせた曲面形状とすることができる。この場合、弾性部３４の基端と湾曲部４９を面接触させることが好ましい。これにより、湾曲部４９と弾性部３４の間における把持本体２８Ａの内面の間に空間が生じないので、減圧時における把持本体２８Ａの部分的な凹みを防止することができる。この結果、より安定的に指部３２を弾性変形させることができると共に、把持本体２８Ａの耐久性を向上することができる。 In the case of the above embodiment, the case where the shape of the base end of the elastic portion 34 is a planar shape has been described, but the present invention is not limited to this. For example, the shape of the base end of the elastic portion 34 can be a curved shape that matches the curvature of the bending portion 49. In this case, it is preferable that the base end of the elastic portion 34 and the curved portion 49 are brought into surface contact. Thereby, since no space is generated between the curved portion 49 and the inner surface of the gripping body 28A between the elastic portion 34, it is possible to prevent the gripping body 28A from being partially recessed during decompression. As a result, the finger part 32 can be elastically deformed more stably, and the durability of the grip body 28A can be improved.
　湾曲部４９と弾性部３４の間における把持本体２８Ａの内面の間に空間が生じないようにするために、弾性部３４に対応した位置に、指部３２へ向かって突出した突起を有する形状保持部（図示なし）を用いてもよい。このような突起を有する形状保持部を把持本体２８Ａ内に組み付けると、突起の先端が弾性部３４に接触すると共に側面が把持本体２８Ａの内面に密着して、弾性部３４と把持本体２８Ａの内面の間には空間が生じない。 In order to prevent a space from being formed between the inner surface of the gripping body 28A between the bending portion 49 and the elastic portion 34, the shape is maintained having a protrusion protruding toward the finger portion 32 at a position corresponding to the elastic portion 34. Part (not shown) may be used. When the shape holding part having such a protrusion is assembled in the gripping main body 28A, the tip of the protrusion comes into contact with the elastic part 34 and the side surface is in close contact with the inner surface of the gripping main body 28A. There is no space between them.
　上記実施形態の場合、充填材は弾性部である場合について説明したが、本発明はこれに限らず、粉粒体でもよい。粉粒体は、適宜選択することができ、例えば、アルミナ、活性炭、発泡スチロール、ガラスビーズ、乾燥した豆や木片などの集合体で形成することができる。粉粒体の充填率は、把持本体２８Ａの２０～８０％程度が好ましく、４０～６０％がより好ましい。充填率は、把持本体２８Ａ内に充填した粉粒体の重量をＡ、把持本体２８Ａ内に最密充填した場合の粉粒体の重量をＢとすると、Ａ／Ｂ×１００（％）で表される。粉粒体を用いた把持装置の場合、把持本体２８Ａ内の圧力を例えば－０．０５ＭＰａ以下に減圧することにより、指部３２が掌部３０へ向かって倒れるように弾性変形する。 In the case of the above embodiment, the case where the filler is an elastic portion has been described, but the present invention is not limited to this and may be a granular material. The granular material can be selected as appropriate, and can be formed of, for example, an aggregate of alumina, activated carbon, styrene foam, glass beads, dried beans, wood chips, and the like. The filling rate of the granular material is preferably about 20 to 80% of the gripping main body 28A, and more preferably 40 to 60%. The filling rate is expressed as A / B × 100 (%), where A is the weight of the granular material filled in the gripping main body 28A, and B is the weight of the granular material when the gripping main body 28A is closely packed. Is done. In the case of a gripping device using powder particles, the pressure in the gripping main body 28A is reduced to, for example, −0.05 MPa or less, so that the finger portion 32 is elastically deformed so as to fall toward the palm portion 30.
　ケース３６には、ワークＷを撮影するカメラ、把持したワークＷの重量を測定する重量計、ワークＷと把持本体２８Ａとの距離を測定する近接センサなどを設けてもよい。 The case 36 may be provided with a camera for photographing the workpiece W, a weigh scale for measuring the weight of the gripped workpiece W, a proximity sensor for measuring the distance between the workpiece W and the gripping main body 28A, and the like.
　上記実施形態の場合、把持本体は、図２に示す指の長さを有する場合について説明したが、本発明はこれに限らない。例えば、図１３に示す把持本体２８Ｂ、２８Ｃ、２８Ｄのように、指部の長さは用途に合わせ適宜変えることができる。指部の長さに応じ、掌部の大きさも変えることができる。指部の数は、図１４に示す把持本体７０Ａ、７０Ｂ、７０Ｃのように４本であってもよいし、図１５に示す把持本体７２Ａ、７２Ｂ、７２Ｃのように５本でもよい。 In the case of the above embodiment, the case where the grip body has the finger length shown in FIG. 2 has been described, but the present invention is not limited to this. For example, like the grip bodies 28B, 28C, and 28D shown in FIG. 13, the length of the finger can be appropriately changed according to the application. Depending on the length of the finger, the size of the palm can also be changed. The number of finger portions may be four as in the gripping main bodies 70A, 70B, and 70C shown in FIG. 14, or may be five as in the gripping main bodies 72A, 72B, and 72C shown in FIG.
１０Ａ，１０Ｂ  把持装置
１２    産業用ロボット
２８Ａ  把持本体
３０    掌部
３２    指部
３４    弾性部
３８    形状保持部
３９    外周面
４０    ガイド穴
４２    指保持部
４４    接触面
５４    駆動部 10A, 10B Grasping device 12 Industrial robot 28A Grasping body 30 Palm part 32 Finger part 34 Elastic part 38 Shape holding part 39 Outer peripheral surface 40 Guide hole 42 Finger holding part 44 Contact surface 54 Drive part

Claims (8)

  1. 掌部と、
    前記掌部の周囲に突出して設けられ、前記掌部を厚さ方向に変形させることにより前記掌部に向かって倒れる複数の指部と
    を有する袋状の把持本体と、
    前記指部内に設けられた充填材と、
    前記掌部の外周の収縮を防ぐ形状保持部と、
    複数の前記指部のうち選択された前記指部を伸びた状態で保持する指保持部と
    を備えることを特徴とする把持装置。     The palm,
    A bag-like gripping body provided around the palm portion and having a plurality of finger portions that fall toward the palm portion by deforming the palm portion in the thickness direction;
    A filler provided in the finger,
    A shape holding part for preventing shrinkage of the outer periphery of the palm part;
    A gripping device comprising: a finger holding unit that holds the selected finger unit in a stretched state among the plurality of finger units.
  2. 前記指保持部は、選択された前記指部に対応する前記掌部の一部の変形を押える接触面を有することを特徴とする請求項１記載の把持装置。 The gripping apparatus according to claim 1, wherein the finger holding unit has a contact surface that presses a part of the palm corresponding to the selected finger.
  3. 前記指保持部を、前記接触面が前記掌部の一部に接触する位置と、前記掌部の一部が厚さ方向に変形して前記指部を弾性変形可能とする位置との間を、移動可能とする駆動部を備えることを特徴とする請求項２記載の把持装置。 The finger holding portion between a position where the contact surface contacts a part of the palm part and a position where a part of the palm part deforms in the thickness direction to allow the finger part to be elastically deformed. The gripping device according to claim 2, further comprising a drive unit configured to be movable.
  4. 前記形状保持部は、変形した前記掌部を受け入れるガイド穴を有し、
    前記ガイド穴内に前記指保持部が配置されている
    ことを特徴とする請求項１～３のいずれか１項記載の把持装置。     The shape holding part has a guide hole for receiving the deformed palm part,
    The gripping device according to any one of claims 1 to 3, wherein the finger holding portion is disposed in the guide hole.
  5. 前記充填材は、前記指部内に設けられ、前記指部の形を有する弾性部であることを特徴とする請求項１～４のいずれか１項記載の把持装置。 The gripping device according to any one of claims 1 to 4, wherein the filler is an elastic portion provided in the finger portion and having a shape of the finger portion.
  6. 前記弾性部は、前記指部と一体であることを特徴とする請求項５記載の把持装置。 The gripping device according to claim 5, wherein the elastic part is integral with the finger part.
  7. 前記充填材は、粉粒体であることを特徴とする請求項１～４のいずれか１項記載の把持装置。 The gripping device according to any one of claims 1 to 4, wherein the filler is a granular material.
  8. 請求項１～７のいずれか１項記載の把持装置を設けたことを特徴とする産業用ロボット。 An industrial robot comprising the gripping device according to any one of claims 1 to 7.
PCT/JP2017/041859 2016-11-21 2017-11-21 Gripping device and industrial robot WO2018092914A1 (en)

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