WO2022070413A1 - ロボットハンド装置及びそれに用いられる把持手段 - Google Patents

ロボットハンド装置及びそれに用いられる把持手段 Download PDF

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Publication number
WO2022070413A1
WO2022070413A1 PCT/JP2020/037587 JP2020037587W WO2022070413A1 WO 2022070413 A1 WO2022070413 A1 WO 2022070413A1 JP 2020037587 W JP2020037587 W JP 2020037587W WO 2022070413 A1 WO2022070413 A1 WO 2022070413A1
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WIPO (PCT)
Prior art keywords
region
gripping
robot hand
hand device
force
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PCT/JP2020/037587
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English (en)
French (fr)
Japanese (ja)
Inventor
健 西田
将 片山
Original Assignee
ＫｉＱ Ｒｏｂｏｔｉｃｓ株式会社
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Application filed by ＫｉＱ Ｒｏｂｏｔｉｃｓ株式会社 filed Critical ＫｉＱ Ｒｏｂｏｔｉｃｓ株式会社
Priority to JP2021504316A priority Critical patent/JP6883908B1/ja
Priority to PCT/JP2020/037587 priority patent/WO2022070413A1/ja
Publication of WO2022070413A1 publication Critical patent/WO2022070413A1/ja

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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 robot hand device for gripping an object and a gripping means used therein.
  • the multi-finger hand disclosed in Non-Patent Document 1 has a two-layer structure in which the nail attached to the fingertip has a two-layer structure, and the first-layer nail is thin and longer than the tip of the finger and can be inserted into the lower part of the object.
  • the second layer of nails is thick and has the same shape as the fingernail, and the flexible fingernail supports the elastic force applied to the object.
  • the robot hand device disclosed in Patent Document 1 includes a grip body that grips an object, a flexible film that covers the grip surface of the grip body, and a fluid or gel-like fluid that fills the space between the flexible film and the grip body. And have.
  • Non-Patent Document 1 since the claw has a two-layer structure and is a combination of different members, for example, it is necessary to combine separately manufactured members, which increases the manufacturing cost and the manufacturing cost. Poor workability during manufacturing. Further, since the nail has a two-layer structure, the second-layer nail may be peeled off from the first-layer nail when used. Since the nail is attached to the fingernail, the nail may come off from the fingernail. The fingertip is made of flexible urethane gel, but since the fingernail has a two-layer structure attached to the fingernail, the ability to follow the shape of the object when it comes into contact with the fingernail is not sufficient.
  • the above-mentioned attempt is made to increase the strength of the first layer nail used by inserting it into the lower part of the object.
  • the ability to follow the shape is further reduced. Since only the portion of the first layer nail protruding from the tip of the finger has hardness, the object is pinched (picked) and restrained by the opposing finger (the area of the second layer nail). If you do, you cannot contribute.
  • the robot hand device disclosed in Patent Document 1 has a flexible structure that imitates the shape of an object, but has no hardness, and the ability to hold and restrain the object with an opposing gripping body is reduced. As shown above, the conventional technique can handle only the work of a specific gripping form, and when performing the work of a different gripping form, it is necessary to prepare a plurality of hand devices corresponding to the work.
  • the present invention has been made in view of such circumstances, and an object of the present invention is to provide a robot hand device capable of performing work under a plurality of conditions without preparing a plurality of them, and a gripping means used therefor.
  • the robot hand device is a robot hand device provided on a base portion and gripping an object by the first and second hand portions facing each other at intervals.
  • the first and second hand portions are provided on the base portion via a position adjusting means for adjusting the distance between the first and second hand portions.
  • the gripping means used for one or both of the first and second hand portions has a gripping body made of a rubber or resin wear-resistant material, and the gripping body has the object and the object.
  • On the contact surface side of the object there is a morphological restraint region that elastically deforms to restrain the object according to the surface shape of the object, and the rigidity is higher than that of the morphological restraint region, and the object is gripped and restrained.
  • a force restraint region is provided, and the form restraint region and the force restraint region are connected and integrated.
  • the form restraint region and the force restraint region are classified by changing any one or more of the density, the thickness, and the internal structure of the wear resistant material. Is preferable.
  • the morphological restraint region can be provided in the central portion of the gripping main body, and the force restraining region can be provided in the tip portion of the gripping main body. Further, the morphological restraint region may be provided in the central portion of the gripping main body, and the force restraining region may be provided in both side portions in the width direction of the gripping main body.
  • the robot hand device is a robot hand device provided on a base portion and gripping an object by the first and second hand portions facing each other at intervals.
  • the first and second hand portions are provided on the base portion via a position adjusting means for adjusting the distance between the first and second hand portions.
  • the gripping means used for one or both of the first and second hand portions has a gripping body made of a rubber or resin wear-resistant material, and the gripping body has the object and the object. From the contact surface side to the back surface side (in the depth direction, that is, in the sinking direction of the gripping body when gripping the object), the object is elastically deformed according to the surface shape of the object to restrain the object.
  • a morphologically constrained region and a force-constrained region that has higher rigidity than the morphologically constrained region and grips and restrains the object are sequentially provided, and the morphologically constrained region and the force-constrained region are connected and integrated. It has become.
  • the form restraint region and the force restraint region are separated by changing the density or the internal structure of the wear resistant material.
  • the gripping means used in the robot hand device according to the third invention according to the above object is provided in the robot hand device, and the first and second hand portions facing each other at intervals sandwiching the object from both sides thereof.
  • the gripping means used for either one or both of It has a gripping body made of a wear-resistant material made of rubber or resin, and the gripping body is elastically deformed on the contact surface side with the object according to the surface shape of the object.
  • a morphologically constrained region and a force-constrained region that has higher rigidity than the morphologically constrained region and grips and restrains the object are provided, and the morphologically constrained region and the force-constrained region are connected to each other. Is united.
  • the form restraint region and the force restraint region change any one or more of the density, thickness, and internal structure of the wear-resistant material. Therefore, it is preferable to classify them.
  • the morphological restraint region can be provided in the central portion of the gripping main body, and the force restraining region can be provided in the tip portion of the gripping main body. Further, the morphological restraint region may be provided in the central portion of the gripping main body, and the force restraining region may be provided in both side portions in the width direction of the gripping main body.
  • the gripping means used in the robot hand device according to the fourth invention according to the above object is provided in the robot hand device, and the first and second hand portions facing each other with an interval for sandwiching the object from both sides thereof.
  • the gripping means used for either one or both of It has a gripping body made of a wear-resistant material made of rubber or resin, and the gripping body has a gripping body from the contact surface side with the object to the back surface side (in the depth direction, that is, when gripping the object).
  • the morphological restraint region that elastically deforms to restrain the object according to the surface shape of the object (in the direction of sinking of the gripping body) and the morphological restraint region has higher rigidity than the morphological restraint region, and grips the object.
  • the force restraint area for restraining is sequentially provided, and the form restraint area and the force restraint area are connected and integrated.
  • the form restraint region and the force restraint region are separated by changing the density or the internal structure of the wear resistant material.
  • the gripping body in contact with the object is made of a wear-resistant material made of rubber or resin, so that the object is stabilized, for example. It can be gripped and can be used for a long period of time because it can slow down the progress of wear due to contact with an object.
  • the robot hand device according to the first and third inventions and the gripping means used thereof are provided with a morphological restraint region and a force restraint region on the contact surface side of the gripping body with the object.
  • one robot hand device can select a gripping mode suitable for gripping an object.
  • the morphological restraint region and the force restraint region are sequentially arranged in the depth direction from the contact surface side to the back surface side of the gripping body with the object. Since it is provided, for example, one robot hand device (grasping) can be adjusted by adjusting the sinking of the object into the gripping body by adjusting the force when the object is pinched by the first and second hand portions. Means), a gripping form suitable for gripping an object can be selected. Further, the robot hand device according to the first to fourth inventions and the gripping means used therein need to be manufactured separately, for example, because the morphological restraint region and the force restraint region are connected and integrated.
  • FIG. 1 It is a perspective view of the robot hand apparatus which concerns on one Embodiment of this invention.
  • (A) to (C) are front views of the gripping means of the robot hand device according to the modified example, respectively.
  • the robot hand device 10 according to an embodiment of the present invention shown in FIG. 1 is used as an end effector (that is, a gripper) of a robot arm which is an industrial robot or a collaborative robot, and performs a gripping operation suitable for various operations. It is a possible device.
  • the object to be gripped here is not particularly limited, and includes, for example, various devices, parts, foods, and the like, and the shape, mass, and size thereof are various (for example, rod-shaped, plate-shaped, and spherical). Hereinafter, it will be described in detail.
  • the robot hand device 10 includes a base portion 12 having a space portion 11 inside, and a pair of opposite first and second hand portions (each of gripping means) provided in the base portion 12 via a position adjusting means 13.
  • Example) It has 14, 15 and so on.
  • the position adjusting means 13 includes a linear guide (linear guide) 16 attached and fixed to the outside of the base portion 12, a ball screw 17 arranged in the base portion 12 along the longitudinal direction of the linear guide 16, and the ball screw 17. It has a motor (not shown) that rotationally drives the ball screw 17 in both directions around its axis, and adjusts the spacing between the hand portions 14 and 15.
  • the linear guide 16 movably supports the sliders 18 and 19 to which the pair of hand portions 14 and 15 are fixed, respectively, and the base portions (upper part in FIG. 1) of the sliders 18 and 19 are the base portions 12, respectively. It is located inside.
  • the ball screw 17 is threaded in opposite directions (right-hand thread and left-hand thread) on both sides of the ball screw 17 with the central portion in the axial direction as a boundary, and both sides of the ball screw 17 in the axial direction (right-hand thread area).
  • the bases of the sliders 18 and 19 arranged in the base portion 12 are screwed into the left-handed screw region), respectively.
  • the two sliders 18 and 19 move in the directions close to each other (the direction of grasping the object and the direction of grasping the object), so that the hand portions facing each other.
  • the intervals between 14 and 15 are narrowed.
  • the pair of hand portions 14 and 15 are attached to the sliders 18 and 19 via the mounting bases 20 and 21, respectively, and are provided on the core material 22 and the core material 22 erected on the mounting bases 20 and 21, respectively. It has a gripping body 23.
  • One mounting base 20 can be mounted and removed on the slider 18 and the other mounting base 21 can be mounted and removed on the slider 19 by bolts (mounting members) 24 (that is, the hand portions 14 and 15 can be mounted and removed on the position adjusting means 13).
  • the hand portions 14 and 15 can be configured so as not to be removable from the sliders 18 and 19 (position adjusting means 13) (integrated configuration).
  • the core material 22 is a wide plate-like material made of a hard material (for example, made of metal or plastic), and the wide surfaces of the core material 22 face each other in the pair of hand portions 14 and 15. (The width direction of the core material 22 is orthogonal to the longitudinal direction of the linear guide 16 (the axial direction of the ball screw 17)), and the core member 22 is mounted and fixed to the mounting bases 20 and 21.
  • the grip body 23 is a bag-shaped material made of a rubber or resin wear-resistant material, and the tip side thereof is gradually narrowed toward the tip.
  • the gripping body 23 is covered from the tip side of the plate-shaped core material 22 to the base, and bolts (attached) to the core material 22 from the back surface side (the side opposite to the contact surface side with the object). Member) 25 is attached and fixed. As a result, the gripping body 23 can be replaced.
  • the wear-resistant material constituting the gripping main body 23 is a material that can slow down the progress of wear due to contact with the object to be gripped.
  • the shore hardness (shore hardness (HS hardness): JIS K 6253, etc.) is 60 to It is preferable to use urethane rubber (preferably ether-based, ester-based, etc.) of about 90 (preferably, the lower limit is 65, further 70, the upper limit is 85, further 80), but the following materials can also be used. ..
  • Examples of the rubber include nitrile rubber (NBR), chloroprene rubber (CR), fluororubber, natural rubber (NR), synthetic natural rubber (IR), butadiene rubber (BR), styrene-butadiene rubber (SBR), and butyl rubber (butyl rubber).
  • NBR nitrile rubber
  • CR chloroprene rubber
  • NR natural rubber
  • IR synthetic natural rubber
  • BR butadiene rubber
  • SBR styrene-butadiene rubber
  • butyl rubber butyl rubber
  • IIR ethylene / propylene rubber
  • EPR acrylic rubber
  • CSM chlorosulfonated polyethylene rubber
  • EVA epichlorohydrin rubber
  • CO epichlorohydrin rubber
  • the resin examples include olefin resins (polypropylene resin, polyethylene resin, etc.), urethane resins, soft vinyl chloride resins, thermoplastic elastomas (olefin thermoplastic elastomas, styrene thermoplastic elastomas, modified styrene thermoplastic elastomas, etc.).
  • soft resins such as urethane-based thermoplastic elastoma (TPU), hydrogenated styrene butadiene rubber (HSBR), etc.
  • TPU urethane-based thermoplastic elastoma
  • HSBR hydrogenated styrene butadiene rubber
  • the mixture there is a copolymer resin composed of a polyethylene resin and an ethylene vinyl acetate resin (EVA resin).
  • a morphological restraint region 26 and a force restraint region 27 having different degrees (degrees) of elastic deformation (different rigidity) are provided on the contact surface side of the gripping main body 23 with an object.
  • the force restraint region 27 is provided on the inverted L-shaped step portion 28 formed at the tip portion (tip portion) of the gripping main body 23, and the morphological restraint region 26 is a region excluding the tip portion (at least). It is provided in the central portion of the gripping body 23).
  • the morphological restraint region 26 has flexibility to elastically deform, and is a portion that elastically deforms and restrains the object according to the surface shape of the object when the pair of hand portions 14 and 15 grips the object. ..
  • the force restraint region 27 has higher rigidity than the morphological restraint region 26, is hardly elastically deformed, and is a portion that holds (picks and grips) an object and restrains it.
  • the morphological restraint region 26 and the force restraint region 27 can be classified by changing any one or more of the density, thickness, and internal structure of the wear-resistant material as follows.
  • the morphological restraint region 26 is a region (soft portion) in which the degree of elastic deformation is larger than that of the force restraint region 27, and the density of the wear-resistant material is made smaller than the force restraint region 27 (for example, the porosity is 50 to 50 or more). 90%), make the thickness of the wear-resistant material thinner than the force restraint region 27 (for example, about 1 to 5 mm), and make the internal structure honeycomb-like (honeycomb-like, lattice-like, sponge-like: sparse state), etc.
  • the force restraint region 27 is a region where the degree of elastic deformation is smaller than that of the morphological restraint region 26 (a portion having high rigidity), and the density of the wear-resistant material is made larger than that of the morphological restraint region 26 (for example, a void).
  • the ratio should be 0, or more than 0 and about 5% or less), the thickness of the wear-resistant material should be thicker than the form-constrained region 26 (for example, about 10 mm or more), and the internal structure should be in a state without voids (dense state). By doing so, it can be formed.
  • the morphological restraint region 26 and the force restraint region can be obtained in one gripping body 23 without being composed of different materials.
  • 27 can be connected and integrally provided.
  • the morphological restraint region 26 and the force restraint region 27 are continuously formed.
  • a transition region is provided between the morphological restraint region and the force restraint region, and the morphological restraint region is applied to the force restraint region. Therefore, it can be formed so that the degree of elastic deformation (rigidity) gradually (for example, stepwise or gently) changes.
  • the positions where the morphological restraint region and the force restraint region are provided are not limited to the above-mentioned positions, and may be formed as follows, for example.
  • a force restraint region 31 is provided at the tip of the gripping body 30 over the width direction, and the morphological restraint region 32 is a region excluding the tip (at least the gripping body 30). It is provided in the central part of).
  • the force restraining region 36 is provided on both side portions in the width direction of the gripping main body 35, and the morphological restraining region 37 is a region excluding both side portions in the width direction (at least the center of the gripping main body 35). It is provided in the section).
  • a force restraint region 41 is provided in an annular shape along the peripheral edge portion of the gripping body 40, and the morphological restraint region 42 is a central portion (force restraint region 41 of the gripping body 40). It is provided on the inside).
  • the force restraint region can be provided not only in a linear shape but also in a curved shape, a bent shape (L-shaped or T-shaped), a spiral shape, or the like, and one or one in the central portion of the gripping body. Multiple pieces can be provided.
  • the morphological restraint region is provided in the region excluding the force restraint region.
  • the ball screw 17 is rotated in one direction by driving a motor, and the two sliders 18 and 19 are moved in directions away from each other, so that the distance between the opposing hand portions 14 and 15 is set from the width of the object to be gripped. Also spread. Then, the robot hand device 10 is moved so that the object is positioned between the opposing hand portions 14 and 15. Next, the ball screw 17 is rotated in the other direction by the drive of the motor, and the two sliders 18 and 19 are moved in the directions close to each other to narrow the distance between the hand portions 14 and 15 facing each other.
  • the object to be gripped is soft, the object is sandwiched and gripped from both sides by the facing morphological restraint regions 26 provided on the pair of hand portions 14 and 15, respectively. At this time, the morphological restraint region 26 is deformed so as to imitate the outer surface of the object.
  • the object to be gripped is a hard object (a flat object such as a hardened rubber band or a rubber band)
  • a force is exerted by the force restraining region 27 of the opposing stepped portions 28 provided on the pair of hand portions 14 and 15, respectively.
  • the restraint region 27 sandwiches (picks) and grips the object from both sides without elastic deformation.
  • the back side the side opposite to the contact surface
  • the morphological restraint region and the force restraint region can be sequentially provided in the depth direction (thickness direction) (that is, the morphological restraint region and the force restraint region may be provided at different positions with the gripping body viewed from the front. It can also be provided so that they overlap each other).
  • the morphologically constrained region is a region in which the degree of elastic deformation is larger than that of the force-constrained region (a portion having high rigidity).
  • the force restraint area can be divided.
  • the morphological restraint region and the force restraint region can be connected and integrally provided on one gripping main body without making the gripping main body made of different materials.
  • the thickness of the morphological restraint region is, for example, about 20 to 50 mm in consideration of the subduction of the object. It is preferable to set the thickness of the grip body to, for example, about 10 mm or more, and determine the thickness of the gripping body (thickness from the contact surface of the object of the gripping body to the core material) based on this thickness.
  • the hand portion using the gripping means is operated as follows (basic operation is the same as that of the robot hand device 10 described above).
  • the robot hand device is moved so that the object is located between the opposing hand portions, and the distance between the opposing hand portions is narrowed.
  • the distance between the opposing hand portions is narrowed within the thickness range of the morphological restraint region.
  • the morphologically constrained region is deformed to imitate the outer surface of the object.
  • the distance between the opposing hand portions is further narrowed.
  • the object is sandwiched (picked) and gripped from both sides of the deformed morphology restraint region. Therefore, it is possible to switch between morphological restraint and force restraint by adjusting the distance between the opposing hand portions without selecting the gripping position of the object.
  • the morphological restraint region is elastically deformed according to the surface shape of the object, but when the gripping force is further applied, it is deformed due to the presence of the core material. The limit is coming. At this point, the morphologically constrained region changes to a force constrained region. Therefore, it is possible to switch between the morphological constraint (region) and the force constraint (region) depending on the magnitude of the gripping force.
  • the present invention has been described above with reference to Examples, the present invention is not limited to the configuration described in the above-described Examples, but is within the scope of the claims. It also includes other possible examples and modifications.
  • the case where the robot hand device of the present invention and the gripping means used thereof are configured by combining a part or all of the above-mentioned Examples and Modifications is also included in the scope of rights of the present invention.
  • the gripping means provided with the morphological restraint region and the force restraint region is used in both of the pair of hand portions of the robot hand device has been described.
  • a gripping means provided with a restraint region and a force restraint region In this case, the other hand portion may be provided with only the morphological restraint region or only the force restraint region, or a conventionally known hand portion may be used.
  • the robot hand device having the first and second hand portions using the gripping means has been described, but for example, any of the first and second hand portions of the conventionally known hand devices.
  • the case where one or both of them are replaced with the gripping means of the present invention (when only the gripping means is used) is also included in the scope of rights of the present invention.
  • the morphologically constrained region and the force-constrained region provided in the gripping means are plane-symmetrical with the pair of gripping means, but may be asymmetrical (positions where the morphologically constrained region and the force-constrained region are provided). However, it may differ depending on the pair of gripping means).
  • the robot hand device according to the present invention and the gripping means used thereof can select the gripping area (morphological restraint area and force restraint area) provided in the gripping means of the robot hand device according to the type of the object and the like.
  • the gripping area morphological restraint area and force restraint area
  • it is possible to perform work under multiple conditions without preparing multiple robot hand devices. Therefore, for example, it can be effectively used as an end effector for an industrial robot or a robot arm device which is a collaborative robot, and can be used for distribution and manufacturing. It can contribute to the automation of work in the industry.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
PCT/JP2020/037587 2020-10-02 2020-10-02 ロボットハンド装置及びそれに用いられる把持手段 WO2022070413A1 (ja)

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JP2021504316A JP6883908B1 (ja) 2020-10-02 2020-10-02 ロボットハンド装置及びそれに用いられる把持手段
PCT/JP2020/037587 WO2022070413A1 (ja) 2020-10-02 2020-10-02 ロボットハンド装置及びそれに用いられる把持手段

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JP7475790B2 (ja) * 2021-01-18 2024-04-30 タイガースポリマー株式会社 グリッパ
CN113977623A (zh) * 2021-09-15 2022-01-28 浙江钱塘机器人及智能装备研究有限公司 一种复合型柔性手指、柔性夹爪及机械夹具
JPWO2023120725A1 (enrdf_load_stackoverflow) * 2021-12-23 2023-06-29
JPWO2023182422A1 (enrdf_load_stackoverflow) * 2022-03-23 2023-09-28
US12370697B1 (en) 2024-12-19 2025-07-29 K.K. Sun Metalon Gripping device and chute

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JPS60167789A (ja) * 1984-02-03 1985-08-31 東芝ケミカル株式会社 ロボツト用グリツパ
JPH02256489A (ja) * 1988-12-28 1990-10-17 Toyota Central Res & Dev Lab Inc 多関節ハンド
JPH04164589A (ja) * 1990-10-30 1992-06-10 Canon Inc ワーク把持装置
JPH08197475A (ja) * 1995-01-30 1996-08-06 Fuji Electric Co Ltd マニピュレータ用のメカニカルハンド
JP2009045687A (ja) * 2007-08-20 2009-03-05 Ntn Corp 把持装置の把持制御装置
JP2009101424A (ja) * 2006-12-14 2009-05-14 Yaskawa Electric Corp ロボット
JP2014039988A (ja) * 2012-08-23 2014-03-06 Toyota Industries Corp ロボットハンド
JP2015134381A (ja) * 2014-01-16 2015-07-27 セイコーエプソン株式会社 把持装置、搬送装置およびロボット
JP5762758B2 (ja) * 2011-01-20 2015-08-12 山本　元司 ロボットハンド装置
JP2019126879A (ja) * 2018-01-24 2019-08-01 株式会社豊田中央研究所 把持装置
JP2020040173A (ja) * 2018-09-11 2020-03-19 ファナック株式会社 ロボット用把持装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60167789A (ja) * 1984-02-03 1985-08-31 東芝ケミカル株式会社 ロボツト用グリツパ
JPH02256489A (ja) * 1988-12-28 1990-10-17 Toyota Central Res & Dev Lab Inc 多関節ハンド
JPH04164589A (ja) * 1990-10-30 1992-06-10 Canon Inc ワーク把持装置
JPH08197475A (ja) * 1995-01-30 1996-08-06 Fuji Electric Co Ltd マニピュレータ用のメカニカルハンド
JP2009101424A (ja) * 2006-12-14 2009-05-14 Yaskawa Electric Corp ロボット
JP2009045687A (ja) * 2007-08-20 2009-03-05 Ntn Corp 把持装置の把持制御装置
JP5762758B2 (ja) * 2011-01-20 2015-08-12 山本　元司 ロボットハンド装置
JP2014039988A (ja) * 2012-08-23 2014-03-06 Toyota Industries Corp ロボットハンド
JP2015134381A (ja) * 2014-01-16 2015-07-27 セイコーエプソン株式会社 把持装置、搬送装置およびロボット
JP2019126879A (ja) * 2018-01-24 2019-08-01 株式会社豊田中央研究所 把持装置
JP2020040173A (ja) * 2018-09-11 2020-03-19 ファナック株式会社 ロボット用把持装置

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