WO2022230378A1 - 把持機構およびエンドエフェクタ - Google Patents

把持機構およびエンドエフェクタ Download PDF

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Publication number
WO2022230378A1
WO2022230378A1 PCT/JP2022/010327 JP2022010327W WO2022230378A1 WO 2022230378 A1 WO2022230378 A1 WO 2022230378A1 JP 2022010327 W JP2022010327 W JP 2022010327W WO 2022230378 A1 WO2022230378 A1 WO 2022230378A1
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WO
WIPO (PCT)
Prior art keywords
gripping
gripping portion
frame
elastic sheet
grip
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2022/010327
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
拓磨 薮田
一則 河野
吉成 松山
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Panasonic Intellectual Property Management Co Ltd
Original Assignee
Panasonic Intellectual Property Management Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Panasonic Intellectual Property Management Co Ltd filed Critical Panasonic Intellectual Property Management Co Ltd
Priority to CN202280030596.2A priority Critical patent/CN117279751A/zh
Priority to JP2023517118A priority patent/JPWO2022230378A1/ja
Publication of WO2022230378A1 publication Critical patent/WO2022230378A1/ja
Priority to US18/383,560 priority patent/US20240066718A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • 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
    • B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
    • 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
    • B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members

Definitions

  • the present disclosure relates to gripping mechanisms and end effectors.
  • Patent Document 1 discloses a robot hand.
  • This robot hand includes a base, a gripping portion that grips a gripping target with the first gripping portion and the second gripping portion, and a conforming portion.
  • the conforming portion is a base portion of each of the first gripping portion and the second gripping portion such that the gripping surfaces of the first gripping portion and the second gripping portion conform to the shape of the gripping object when the gripping object is gripped. Rotation around the axis in the extending direction from the opening and rotation in the opening/closing direction of each of the first gripping portion and the second gripping portion are allowed. As a result, the gripping surface of the gripping portion can be made to follow the shape of the object to be gripped.
  • the present disclosure provides a gripping mechanism and an end effector that can stably grip a gripping target.
  • a gripping mechanism includes a pair of gripping portions including a first gripping portion and a second gripping portion facing each other.
  • Each of the first gripping portion and the second gripping portion has a first end, a second end opposite to the first end, a protrusion provided at the first end, and a grip at the second end. and a rotating shaft provided.
  • the protrusion is rotatable around the rotation axis.
  • the first gripping portion and the second gripping portion are opposed to each other in a direction intersecting the direction in which the rotating shaft extends.
  • FIG. 4 is a conceptual diagram showing a first state when the gripping mechanism grips the gripping target;
  • FIG. 6 is a conceptual diagram showing a second state when the gripping mechanism grips the gripping target;
  • FIG. 6 is a conceptual diagram showing a third state when the gripping mechanism grips the gripping target;
  • FIG. 11 is a conceptual diagram showing a fourth state when the gripping mechanism grips the gripping object;
  • FIG. 4 is a conceptual diagram showing a first state when the gripping mechanism grips the gripping target;
  • FIG. 6 is a conceptual diagram showing a second state when the gripping mechanism grips the gripping target;
  • FIG. 6 is a conceptual diagram showing a third state when the gripping mechanism grips the gripping target;
  • FIG. 11 is a conceptual diagram showing a fourth state when the gripping mechanism grips the gripping object;
  • FIG. 4 is a conceptual diagram showing a first state when the gripping mechanism grips the gripping target;
  • FIG. 6 is a conceptual diagram showing a
  • FIG. 11 is a diagram showing an example of gripping an object to be gripped by a gripping mechanism; FIG. 11 is a diagram showing an example of gripping an object to be gripped by a gripping mechanism; FIG. 11 is a diagram showing an example of gripping an object to be gripped by a gripping mechanism; Block diagram showing an example of the hardware configuration of the control device
  • an end effector such as a robot hand can grip an object to be gripped by being controlled by a control device provided on the proximal end side.
  • tableware is an object to be grasped.
  • Many tableware have inclined sides.
  • the inclination angle of the side surface differs depending on the object to be grasped. It has been difficult for the end effector to stably grip objects to be gripped that have inclinations of various angles, not just tableware.
  • the conforming portion is composed of an elastic member. Further, the conforming portion allows the gripping piece to rotate around the axis in the extending direction from the base and to rotate in the opening/closing direction of the gripping piece. Therefore, when a cup or the like is sandwiched between the two gripping pieces, the gripping surfaces of the gripping pieces conform to the outer peripheral shape of the cup.
  • the robot hand it was still difficult for the robot hand to grasp a grasping object with an inclination, such as a flat plate. If the force with which the grasping pieces sandwich the grasped object is weak, it becomes difficult to stably grasp the grasped object, and the grasped object may slip down. On the other hand, if the force with which the gripping pieces sandwich the gripping object is strong, the gripping object will start to slide from the gripping pieces along the slope of the gripping piece. be. Furthermore, since the inclination of the object to be grasped is not necessarily a linear inclination, the grasping pieces may not generate sufficient frictional force to stably grasp the object to be grasped.
  • this embodiment specifically disclosing a gripping mechanism and an end effector according to the present disclosure (hereinafter referred to as "this embodiment") will be described in detail with reference to the drawings as appropriate. However, more detailed description than necessary may be omitted. For example, detailed descriptions of well-known matters and redundant descriptions of substantially the same configurations may be omitted. This is to avoid unnecessary verbosity in the following description and to facilitate understanding by those skilled in the art. It should be noted that the accompanying drawings and the following description are provided for a full understanding of the present disclosure by those skilled in the art and are not intended to limit the claimed subject matter.
  • FIG. 1 is a conceptual diagram showing a robot arm 3 equipped with an end effector 2.
  • the robot arm 3 typically has a multi-joint arm.
  • An end effector 2 is attached to the tip of the arm.
  • the end effector 2 is, for example, a robot hand having two fingers.
  • a gripping mechanism 1 is attached to the tip of the end effector 2 .
  • the gripping mechanism 1 grips an object to be gripped OBJ such as tableware.
  • the object to be grasped OBJ is not limited to tableware.
  • FIG. 2 is a perspective view showing the end effector 2.
  • FIG. 3 is a top view showing the end effector 2.
  • FIG. 4 is a side view showing the end effector 2.
  • FIG. The end effector 2 having the gripping mechanism 1 attached to its tip will be described with reference to FIGS. 2 to 4.
  • FIG. 3 is a perspective view showing the end effector 2.
  • FIG. 3 is a top view showing the end effector 2.
  • FIG. FIG. 4 is a side view showing the end effector 2.
  • FIG. The end effector 2 having the gripping mechanism 1 attached to its tip will be described with reference to FIGS. 2 to 4.
  • the illustrated coordinate axes are coordinate axes in an orthogonal coordinate system having mutually orthogonal X-, Y-, and Z-axes.
  • the end effector 2 has a base 23 , a first finger 21 and a second finger 22 .
  • the first finger 21 and the second finger 22 are attached to the base 23 so as to be rotatable about an axis parallel to the illustrated Z-axis.
  • the gripping mechanism 1 includes a first gripping portion 11 and a second gripping portion 12 .
  • the first grip portion 11 and the second grip portion 12 face each other. That is, the gripping mechanism 1 includes a pair of gripping portions (for example, the first gripping portion 11 and the second gripping portion 12) facing each other.
  • the first gripping part 11 and the second gripping part 12 have rotating shafts 111 and 121, respectively.
  • the rotating shaft 111 extends toward the tip of the first finger 21 .
  • the rotating shaft 121 extends toward the tip of the second finger 22 . In the illustrated example, the rotating shaft 111 and the rotating shaft 121 each extend in the X-axis direction.
  • the first grip part 11 is rotatable around a rotating shaft 111 .
  • the second grip part 12 is rotatable around the rotating shaft 121 .
  • the first gripping portion 11 and the second gripping portion 12 face each other in a direction intersecting the direction in which the rotating shaft 111 and the rotating shaft 121 extend.
  • the first gripping portion 11 and the second gripping portion 12 face each other in the Y-axis direction, which is a direction perpendicular to the X-axis direction in which the rotation shafts 111 and 121 extend.
  • the torsion spring 116 and the torsion spring 126 shown in FIGS. 2 to 4 will be described later with reference to FIGS. 5 to 7, respectively.
  • connection member 51 is arranged between the first grip portion 11 and the first finger 21 .
  • the connecting member 51 connects the first grip portion 11 and the first finger 21 .
  • the connecting member 52 is arranged between the second grip portion 12 and the second finger 22 .
  • the connecting member 52 connects the second grip portion 12 and the second finger 22 .
  • the connection member 51 and the connection member 52 are each formed in a bent plate shape having three sides when viewed in the Z-axis direction (see FIG. 3). However, the shape of the connecting member 51 and the connecting member 52 is not limited to this.
  • the first grip part 11 is connected to one end of the connecting member 51 . More specifically, the rotating shaft 111 provided in the first grip part 11 is inserted into a hole provided at one end of the connecting member 51 and fixed.
  • the second grip portion 12 is connected to one end of the connecting member 52 . More specifically, the rotating shaft 121 included in the second grip part 12 is inserted into a hole provided at one end of the connecting member 52 and fixed.
  • connection member 51 is fixed to the connection portion C1 protruding from the first finger 21.
  • the other end of the connecting member 52 is fixed to a connecting portion C2 that protrudes from the second finger 22.
  • connection portion C1 is rotatably attached to two fulcrums (see FIG. 3) of the first finger 21 along an axis parallel to the Z axis in the drawing.
  • connection portion C2 is rotatably attached to two fulcrums (see FIG. 3) of the second finger 22 along an axis parallel to the Z axis in the drawing. Therefore, even if the first finger 21 and the second finger 22 are opened and closed, the connecting portion C1 and the connecting portion C2 maintain parallel to each other.
  • the end effector 2 does not have to be provided with the connection member 51 and the connection member 52 .
  • the first gripping portion 11 and the second gripping portion 12 may be directly fixed to the first finger 21 and the second finger 22, respectively.
  • FIG. 5 is a perspective view showing the first grip part 11 connected to the connecting member 51.
  • FIG. 6 is an exploded perspective view of the connecting member 51 and the first grip portion 11.
  • FIG. 7 is a perspective view showing the first grip part 11 connected to the connecting member 51.
  • the structure of the first grip part 11 will be described with reference to FIGS. 5 to 7 .
  • the structure of the second gripping portion 12 is the same as the structure of the first gripping portion 11 except that the first gripping portion 11 and the second gripping portion 12 face each other. is similarly applicable, and a detailed description is omitted.
  • the first grip part 11 includes a rotating shaft 111, a first frame 112, a second frame 113 as an example of a frame, a third frame 114 as an example of a frame, a rigid stopper 115, and a torsion spring 116. Prepare.
  • the first frame 112 has a generally bent planar shape. One end of the first frame 112 is generally bent in a U shape so as to wrap around the rotating shaft 111 along the X-axis direction. The other end of the first frame 112 is bent in a general L shape so as to ride on a rigid stopper 115 (to be described later) along the X direction. That is, the first frame 112 is connected to the rigid stopper 115 and the rotating shaft 111 .
  • the second frame 113 and the third frame 114 have a curved rod shape.
  • the second frame 113 has a perforated ring 1131 .
  • the third frame 114 has a perforated ring 1141 .
  • a perforated ring 1131 and a perforated ring 1141 are provided correspondingly to one end of each of the second frame 113 and the third frame 114 .
  • Rotating shaft 111 passes through each of perforated ring 1131 and perforated ring 1141 .
  • the rotating shaft 111 also passes through the torsion spring 116 .
  • the torsion spring 116 may be arranged between the third frame 114 and the connecting member 51 as shown in FIG.
  • a torsion spring 116 may be positioned between the second frame 113 and the third frame 114 as depicted in FIGS.
  • One end of the torsion spring 116 is fixed to the rotating shaft 111 and the other end of the torsion spring 116 is fixed to the third frame 114 . Therefore, the first gripping portion 11 that receives the external force rotates around the rotating shaft 111, but when the external force is removed, the first gripping portion 11 returns to its original position due to the biasing force of the torsion spring 116, one end of which is fixed to the rotating shaft 111. return to position.
  • the rigid stopper 115 generally has a U-shape. One end of the rigid stopper 115 is inserted into the end of the second frame 113 opposite to the perforated ring 1131 (see FIG. 5 or 7). The other end of the rigid stopper 115 is inserted into the end of the third frame 114 opposite to the perforated ring 1141 (see FIG. 5 or 7). Thereby, the central portion of the rigid stopper 115 forms a protrusion at the first end of the first gripper 11 . As shown in FIG. 7, rigid stopper 115 is provided between second frame 113 and third frame 114 .
  • first frame 112 , the second frame 113 , the third frame 114 , and the rigid stopper 115 are rotatable around the rotating shaft 111 .
  • first end of the first grip portion 11 is the end on the side facing the Z-axis direction in the drawing.
  • the second end of the first grip part 11 is the end on the side facing the direction opposite to the Z-axis direction in the drawing.
  • a cushion 117 is provided on the first grip part 11 .
  • the cushion 117 is provided on the side of the rotating shaft 111 facing the second grip portion 12, which is the other grip portion.
  • the cushion 117 is provided on the Y-axis direction side of the rotating shaft 111 .
  • the cushion 117 is provided between the first frame 112 and the elastic sheet 118 .
  • the cushion 117 can be gripped.
  • the external force received from the object does not cause rotation of the first gripper 11 around the rotation axis 111 . Therefore, when gripping an object to be gripped (in particular, a cylindrical gripping object such as a cup), the relative position of the first gripping portion 11 to the gripping object does not deviate in the rotational direction of the first gripping portion 11. . Therefore, the gripping mechanism 1 can grip the gripping object more stably.
  • the cushion 117 is arranged between the first frame 112 and an elastic sheet 118 which will be described later.
  • the cushion 117 can press the elastic sheet 118, which will be described later, against the object to be grasped.
  • the installation area between the elastic sheet 118 and the object to be grasped is increased, so that the object to be grasped can be grasped on a wider surface. This increases the stability of gripping by the first gripping portion 11 .
  • An elastic sheet 118 is provided on the surface of the first gripping portion 11 facing the second gripping portion 12, which is the other gripping portion.
  • the elastic sheet 118 is made of a deformable material such as silicone.
  • the elastic sheet 118 is fixed to the end of the first frame 112 on the rotating shaft 111 side and the end on the rigid stopper 115 side, respectively.
  • the cushion 117 is provided between the elastic sheet 118 and the first frame 112 at the end on the rotating shaft 111 side, and a play space is generated on the rigid stopper 115 side.
  • This play space becomes a deformation space of the elastic sheet 118, absorbs the difference in the side shape of the object to be grasped, such as a flat plate or a deep plate, and fits the shape of the object to be grasped. That is, depending on the presence or absence of the cushion 117, the elastic sheet 118 is more likely to deform on the rigid stopper 115 side than on the rotating shaft 111 side.
  • the grasping mechanism 1 can grasp the grasping target with a surface, so that the grasping target can be stably grasped.
  • the elastic sheet 118 is in close contact with the grasped object, the grasped object can be grasped more stably.
  • the friction on the first end side of the elastic sheet 118 near the first end of the first gripping portion 11 is smaller than the friction on the second end side of the first gripping portion 11 near the second end. This makes it easier for the object to be grasped in contact with the elastic sheet 118 to move toward the rigid stopper 115 .
  • the second end side of the first grip portion 11 in the elastic sheet 118 is less slippery than the first end side. As a result, the object to be grasped can be held on the second end side, which is less slippery.
  • a low-friction sheet 119 is attached to the elastic sheet 118 on the first end side of the first grip portion 11 , that is, on the side closer to the rigid stopper 115 .
  • the friction of the low-friction sheet 119 is less than that of the elastic sheet 118 .
  • the method of creating a difference in frictional force between the first end side and the second end side of the first grip portion 11 in the elastic sheet 118 is not limited to this.
  • the elastic sheet 118 itself may be composed of a low-friction sheet. Then, on the second end side of the first grip portion 11 of the low-friction elastic sheet 118, a sheet with a large frictional force may be attached, or an anti-slip treatment may be performed.
  • the second frame 113 has a first end connected to the rigid stopper 115 and a second end connected to the rotating shaft 111 .
  • the first end sides of the first gripping portion 11 in the second frame 113 and the third frame 114 are bent toward the opposing gripping portion (that is, the second gripping portion 12) side.
  • the second frame 113 and the third frame 114 are bent in a doglegged shape, for example.
  • FIG. 8 is a conceptual diagram showing the first state when the gripping mechanism 1 grips the gripping object OBJ.
  • FIG. 9 is a conceptual diagram showing a second state when the gripping mechanism 1 grips the gripping object OBJ.
  • FIG. 10 is a conceptual diagram showing a third state when the gripping mechanism 1 grips the gripping object OBJ.
  • FIG. 11 is a conceptual diagram showing a fourth state when the gripping mechanism 1 grips the gripping object OBJ. Gripping of the gripping target object OBJ by the gripping mechanism 1 will be described based on each of FIGS. 8 to 11 .
  • the second gripping portion 12 provided in the gripping mechanism 1 has the same structure as the first gripping portion 11 except that the first gripping portion 11 and the second gripping portion 12 face each other.
  • the reference numerals for the same constituent elements as in the first gripping portion 11 are respectively the rotating shaft 121, the first frame 122, the second frame 123, the third frame 124, the rigid stopper 125, the torsion A spring 126, a cushion 127, an elastic sheet 128, and a low friction sheet 129 are used.
  • the cushion 117 of the first gripping portion 11 and the cushion 127 of the second gripping portion 12 are provided between the rotating shaft 111 of the first gripping portion 11 and the rotating shaft 121 of the second gripping portion 12.
  • the elastic sheet 118 of the first gripping portion 11 and the elastic sheet 128 of the second gripping portion 12 are arranged in a direction (eg, the Y-axis direction) intersecting the direction in which the rotation shafts 111 and 121 extend (eg, the X-axis direction). facing each other.
  • FIG. 8 shows the first state when the gripping mechanism 1 grips the gripping object OBJ.
  • the control device 100 which will be described later, controls the end effector 2 to gradually bring the first gripping portion 11 and the second gripping portion 12 of the gripping mechanism 1 closer to each other from the outer side (that is, the outer peripheral side) of the gripped object OBJ.
  • the object to be grasped OBJ is tableware in this embodiment.
  • the tableware has a shape of a truncated cone, such as a ramen bowl (in other words, a ramen bowl), whose diameter increases in the upward direction (the Z-axis direction in the figure).
  • the gripping mechanism 1 can also grip a gripping object having another shape.
  • FIG. 9 shows the second state when the gripping mechanism 1 grips the gripping object OBJ.
  • the control device 100 which will be described later, controls the end effector 2 to press the first gripping portion 11 and the second gripping portion 12 of the gripping mechanism 1 to the outside (that is, the outer peripheral side) of the gripping object OBJ.
  • elastic sheet 118 and elastic sheet 128 and low-friction sheet 119 and low-friction sheet 129 form the largest diameter portion of gripped object OBJ (see arrows with reference signs P1 and P2 in the figure). come into contact with
  • the control device 100 controls the end effector 2 to further press the first gripping portion 11 and the second gripping portion 12 of the gripping mechanism 1 to the outside (that is, the outer peripheral side) of the gripping object OBJ. Then, the elastic sheets 118 and 128 and the low-friction sheets 119 and 129 are deformed to follow the side shape of the object to be grasped OBJ. Parts of elastic sheet 118 and elastic sheet 128 and low-friction sheet 119 and low-friction sheet 129 near where cushion 117 and cushion 127 are arranged come into contact with the side surface of object to be grasped OBJ.
  • FIG. 10 shows the third state when the gripping mechanism 1 grips the gripping object OBJ.
  • the control device 100 which will be described later, controls the end effector 2 to further press the first gripping portion 11 and the second gripping portion 12 of the gripping mechanism 1 to the outside (that is, the outer peripheral side) of the gripping object OBJ. Then, the first gripping portion 11 and the second gripping portion 12 rotate outward about the rotating shafts 111 and 121 against the urging forces of the torsion springs 116 and 126, respectively.
  • rotating shaft 111 and rotating shaft 121 each extend in the X-axis direction.
  • the directions of rotation of the first gripping portion 11 and the second gripping portion 12 are indicated by arrows with reference symbols R1 and R2 in the figure.
  • Grasped object OBJ is sandwiched from both sides by cushions 117 and 127 , elastic sheets 118 and 128 , and low friction sheets 119 and 129 .
  • the low-friction sheet 119 and the low-friction sheet 129 have a low frictional force
  • gripping is performed.
  • Object OBJ slides along the slope. Therefore, object to be grasped OBJ moves in the direction in which rigid stopper 115 and rigid stopper 125 are arranged. In the illustrated example, the object to be grasped OBJ moves in the Z-axis direction in the drawing. The state after this movement is shown in FIG.
  • FIG. 11 shows the fourth state when the gripping mechanism 1 grips the gripping object OBJ.
  • the edges of the object to be grasped OBJ come into contact with the rigid stopper 115 and the rigid stopper 125 and are blocked from further movement in the Z-axis direction. Therefore, the object to be grasped OBJ is composed of a member arranged on the first end side of each of the first grasping portion 11 and the second grasping portion 12 and the second end of each of the first grasping portion 11 and the second grasping portion 12. It is held stably by being sandwiched by members arranged on the side.
  • the members arranged on the first end side of the first gripping portion 11 and the second gripping portion 12 are the rigid stopper 115 and the rigid stopper 125 .
  • the members arranged on the second end side of first gripping portion 11 and second gripping portion 12 are cushions 117 and 127 , elastic sheets 118 and 128 , and low friction sheets 119 and 129 .
  • FIG. 12A and 12B are diagrams showing an example of gripping the gripping object OBJ by the gripping mechanism 1.
  • FIG. 13A and 13B are diagrams showing an example of gripping the gripping target object OBJ by the gripping mechanism 1.
  • FIG. 14A and 14B are diagrams showing an example of gripping the gripping target object OBJ by the gripping mechanism 1.
  • the gripping mechanism 1 can stably grip a plurality of types of gripping objects OBJ having different heights and different side shapes.
  • Rigid stopper 115 and rigid stopper 125 arranged on the upper side in the drawing hold object to be grasped OBJ in a line (that is, linearly along the X-axis direction), and elastic sheet 118 and elastic sheet 128 are arranged on the lower side in the drawing. This is because the nearby portions and the cushions 117 and 127 fit the shape of the object to be grasped OBJ and hold it on its surface.
  • the elastic sheets 118 and 128 deform along the shape of the side surface of the object to be grasped OBJ. It can be in close contact with the target object OBJ and stably grip the target object OBJ.
  • the grasping mechanism 1 can stably grasp a generally cylindrical grasping object OBJ having no inclined side surfaces.
  • a portion of elastic sheet 118 and elastic sheet 128 near cushion 117 and cushion 127 has a large frictional force. Therefore, the cushion 117 and the cushion 127 press the elastic sheet 118 and the elastic sheet 128 against the object to be grasped OBJ, so that the object to be grasped OBJ can be stably grasped by the frictional force.
  • the gripping mechanism 1 also grips a gripping target having a shape of a truncated cone whose diameter decreases as it goes upward, such as an upside-down ramen bowl. can do.
  • the gripping mechanism 1 can grip various gripping objects such as vases, flowerpots, beer bottles, masu, fire extinguishers, paper packs, and PET bottles.
  • the gripping mechanism 1 can particularly grip a gripping object that is placed on the ground and has an distorted shape. Conventionally, it has been difficult to grip such a gripped object having an distorted shape.
  • FIG. 15 is a block diagram showing a hardware configuration example of the control device 100.
  • the control device 100 includes a processor 101 , a memory 102 , an input device 103 , an end effector connection section 105 , a communication device 106 and an input/output interface 107 .
  • the processor 101 is configured using, for example, a CPU (Central Processing Unit), MPU (Micro Processing Unit), GPU (Graphical Processing Unit), DSP (Digital Signal), or FPGA (Field Programmable Gate Array). Processor 101 cooperates with memory 102 to perform various processes and controls in control device 100 .
  • the processor 101 for example, acquires various kinds of feedback information from the end effector 2 via the end effector connection section 105 , generates control signals for controlling the operation of the end effector 2 , and transmits the control signals to the end effector 2 .
  • the memory 102 has, for example, a RAM (Random Access Memory) as a work memory used when executing the processing of the processor 101, and a ROM (Read Only Memory) storing a program that defines the processing of the processor 101.
  • the RAM temporarily stores data generated or acquired by the processor 101 .
  • a program that defines the processing of the processor 101 is written in the ROM.
  • the memory 102 may store operation content information, which is information that defines the content of the operation to be performed by the end effector 2 .
  • the action content information includes, for example, a program for the end effector 2 to perform a certain action.
  • the input device 103 is a device for the user to input information.
  • the input device 103 may specifically be a keyboard, mouse, teaching pendant, or the like.
  • the input device 103 may be a device other than a keyboard, mouse, and teaching pendant.
  • the end effector connection unit 105 is configured using an input/output circuit having a function of connecting the end effector 2 and the control device 100 . Information is transmitted between, for example, the processor 101 and the end effector 2 via the end effector connection unit 105 .
  • the communication device 106 has general functions for communicating information with external devices via a communication network 108 such as the Internet.
  • the input/output interface 107 is interposed between the memory 102, the input device 103, the end effector connection unit 105, the communication device 106, and the processor 101, and has a function of inputting/outputting data between them.
  • control device 100 may further include components other than the components described above.
  • the gripping mechanism 1 includes a pair of gripping portions (specifically, the first gripping portion 11 and the second gripping portion 12) facing each other.
  • Each of the pair of first gripping portion 11 and second gripping portion 12 has protrusions (specifically, rigid stoppers 115 and 125) at first ends of the first gripping portion 11 and second gripping portion 12, respectively.
  • Each of the pair of first gripping portion 11 and second gripping portion 12 has a rotating shaft 111 provided on the second end side opposite to the first end of each of the first gripping portion 11 and the second gripping portion 12. , 121 are respectively rotatable.
  • a pair of the first gripping portion 11 and the second gripping portion 12 face each other in a direction intersecting the direction in which the rotating shafts 111 and 121 extend.
  • the gripping mechanism 1 slides the first gripping portion 11 and the second gripping portion 12 with respect to the gripping target object OBJ, so that the protrusions (rigid stoppers 115 and 125) and the first gripping portion 11 and the second gripping portion 11 slide.
  • the object to be grasped OBJ can be sandwiched between the portions 12 . Therefore, the gripping mechanism 1 can stably grip the gripping object OBJ.
  • each of the pair of first gripping portion 11 and second gripping portion 12 is further provided with corresponding cushions 117 and 127 .
  • Each of the cushions 117 and 127 is provided in a direction parallel to the corresponding rotating shafts 111 and 121 and on the side facing the second gripping portion 12 and the first gripping portion 11 on the other side.
  • the gripping mechanism 1 can receive the gripping object OBJ softly, so that the gripping object OBJ can be stably gripped.
  • the external force that the cushions 117 and 127 receive from the object to be grasped OBJ does not cause the first gripping portion 11 and the second gripping portion 12 to rotate about the rotation axes 111 and 121 .
  • the gripping mechanism 1 can grip the gripping object OBJ more stably.
  • each of the pair of first gripping portion 11 and second gripping portion 12 further has corresponding elastic sheets 118 and 128 on the surface facing the other second gripping portion 12 and first gripping portion 11. Prepare.
  • the elastic sheets 118 and 128 are in close contact with the object to be grasped OBJ, so that the grasping mechanism 1 can more stably grasp the object to be grasped OBJ.
  • the friction between the elastic sheets 118 and 128 is such that the first end side of each of the first gripping portion 11 and second gripping portion 12 is the first end. smaller than the second end side opposite the side. This makes it easier for the gripping object OBJ to move toward the protrusions (specifically, the rigid stoppers 115 and 125), so that the gripping mechanism 1 can grip the gripping object OBJ more stably.
  • the protrusions are provided on the second frame 113 and the third frame 114 having perforated rings 1131 and 1141 through which the rotating shaft 111 passes.
  • the first end side of the first gripping portion 11 in the second frame 113 and the third frame 114 is bent toward the opposing second gripping portion 12 side.
  • the protrusion falls in the direction of the grasped object. Therefore, when the gripped object slides upward (in the Z-axis direction), the gripped object is prevented from coming off the protrusion (for example, the rigid stopper 115).
  • the end effector 2 also includes the gripping mechanism 1 described above. Accordingly, it is possible to provide the end effector 2 capable of stably gripping the gripping object OBJ.
  • the present disclosure is useful as a gripping mechanism and an end effector that can stably grip a gripping target.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
PCT/JP2022/010327 2021-04-28 2022-03-09 把持機構およびエンドエフェクタ Ceased WO2022230378A1 (ja)

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US18/383,560 US20240066718A1 (en) 2021-04-28 2023-10-25 Gripping mechanism and end effector

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WO2024178308A1 (en) * 2023-02-24 2024-08-29 Meso Scale Technologies, Llc. Self-aligning gripper assemblies for robotic arms

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JP2014124736A (ja) * 2012-12-27 2014-07-07 Seiko Epson Corp エンドエフェクター
US20180117775A1 (en) * 2016-11-01 2018-05-03 The Boeing Company Robot end effectors that carry objects

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JPS5921754B2 (ja) * 1977-01-14 1984-05-22 日立金属株式会社 ハンドリング装置
JP5681271B1 (ja) * 2013-07-26 2015-03-04 ファナック株式会社 ロボット用把持装置
CN104552322A (zh) * 2013-10-28 2015-04-29 精工爱普生株式会社 把持装置、机器人以及把持方法
JP7260817B2 (ja) * 2019-06-04 2023-04-19 日本製鉄株式会社 ワーク搬送具、熱間プレス装置、ワーク搬送方法及び熱間プレス方法
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JP2014124736A (ja) * 2012-12-27 2014-07-07 Seiko Epson Corp エンドエフェクター
US20180117775A1 (en) * 2016-11-01 2018-05-03 The Boeing Company Robot end effectors that carry objects

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Publication number Priority date Publication date Assignee Title
WO2024178308A1 (en) * 2023-02-24 2024-08-29 Meso Scale Technologies, Llc. Self-aligning gripper assemblies for robotic arms

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CN117279751A (zh) 2023-12-22
US20240066718A1 (en) 2024-02-29

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