WO2023234228A1

WO2023234228A1 - Gripper

Info

Publication number: WO2023234228A1
Application number: PCT/JP2023/019805
Authority: WO
Inventors: 邦幸川端; 豊堀野; 創吉川; 竜馬橋本
Original assignee: 日本軽金属株式会社
Priority date: 2022-06-02
Filing date: 2023-05-26
Publication date: 2023-12-07
Also published as: JP2023177456A

Abstract

This gripper that can grip a soft object without damaging the same is manufactured at low cost.　The present invention comprises, in an integrated manner, a pair of extension sections (10) that grip an object (2), and a connecting section (11) that connects the extension sections (10). The extension sections (10) and the connecting section (11) are configured from an elastic member having a gap section (22) that is continuous at least in the gripping direction in which the object (2) is gripped. At least a portion of the connecting section (11) is a soft region (20) having a plurality of wall sections that are layered in the gripping direction, and in the soft region (20), wall sections that neighbor one another in the gripping direction are layered in a condition of having a phase offset in an intersecting direction, which intersects the gripping direction. The extension sections (10) and the connecting section (11) comprise a configuration that results from layering, in a Z-axis direction, parallel-cross layers (24) in which linear materials (23) with elasticity have been crossed in the two directions of an X-axis direction and a Y-axis direction and assembled in a parallel-cross formation, and in the soft region (20), parallel-cross layers (24) that neighbor one another in the Z-axis direction are layered in a condition of having a phase offset in the directions of the X-axis direction and the Y-axis direction.

Description

gripper

The present invention relates to a gripper that is provided at the tip of a robot arm and directly grips an object.

Conventionally, robots have been used in various technical fields, and in each technical field, the robots are used to grasp and move objects. The object to be grasped is not necessarily strong; for example, in the food and medical fields, objects that are soft and easily damaged can also be objects. In order to enable grasping and movement of such soft objects, Patent Document 1 discloses a technique of providing a cushioning material at the tip of the arm, and Patent Document 2 discloses a technique of making the arm itself flexible. There is.

JP 2021-112789 Publication JP 2021-142582 Publication

However, in the technique of Patent Document 1, there is a limit to the external force that the cushioning material itself can absorb, so if the object is very soft, there is a risk of damage. On the other hand, the technique disclosed in Patent Document 2 may increase the manufacturing cost of the arm part itself.
The present invention has been made in view of such problems, and an object of the present invention is to provide a gripper that can grip a soft object without damaging it at a low cost.

The present invention for solving the above problems is a gripper disposed at the tip of a robot arm for gripping an object, the gripper comprising: a pair of overhangs for gripping the object; It is integrally provided with a connecting part to be connected. The projecting portion and the connecting portion are each made of an elastic member having a gap portion continuous in the gripping direction for gripping the object, and at least a part of the connecting portion is made of a plurality of elastic members stacked in the gripping direction. The soft region has wall portions, and the wall portions adjacent in the gripping direction in the soft region are stacked with a phase shift in a cross direction intersecting the gripping direction. .

According to the gripper according to the present invention, since the soft regions are stacked with a phase shift so that the wall portions do not overlap in the gripping direction, the soft regions can be flexibly deformed. Therefore, since the gripper is capable of gripping a soft object, even a soft object can be gripped without damaging the object. Furthermore, since the gripper has the overhanging portion and the connecting portion integrally formed, manufacturing costs can be suppressed.

In the gripper of the present invention, the overhanging portion and the connecting portion are formed by forming a parallel cross layer in which elastic wire rods are crossed in two directions, the X-axis direction and the Y-axis direction, in a parallel cross shape, in the Z-axis direction. The soft region is formed by laminating layers in which the parallel layers adjacent in the Z-axis direction are laminated with a phase shift in at least one of the X-axis direction and the Y-axis direction. preferable. According to such a configuration, the flexibility of the gripper is improved. Furthermore, when an external force is applied to the gripper from the robot arm, the soft region deforms only in the Z direction and does not deform (bulge, etc.) in the XY plane. Therefore, since the object does not come into contact with anything other than the protruding portion, it becomes even less likely to be damaged.

Further, in the gripper of the present invention, hard regions are provided at both ends in the Z-axis direction that contact the gripping portion of the robot arm, and the hard regions are formed between the parallel layers adjacent to each other in the Z-axis direction. It is preferable that the layers are stacked while maintaining the same phase in the X-axis direction and the Y-axis direction. According to such a configuration, the gripper can be stably gripped by the gripping part of the robot arm, and the external force of the robot arm can be reliably transmitted to the connecting part.

Furthermore, in the gripper of the present invention, it is preferable that the hard region is provided in the entire region corresponding to the shape of the connecting portion at both ends in the Z-axis direction. According to such a configuration, the connecting part becomes difficult to twist, the gripper can be gripped by the gripping part of the robot arm in a more stable state, and the external force of the robot arm can be evenly transmitted to the connecting part. I can do it.

Furthermore, in the gripper of the present invention, it is preferable that the projecting portion and the connecting portion be integrally formed using a 3D printer. According to such a configuration, the gripper can be manufactured in an accurate shape easily and at low cost.

According to the gripper according to the present invention, it is possible to grip a soft object without damaging it, and it exhibits the excellent effect of being able to be manufactured at low cost.

FIG. 1 is a perspective view showing a gripper according to a first embodiment of the present invention. FIG. 2 is a perspective view showing a state in which the gripper according to the first embodiment of the present invention is gripped by the tip of a robot arm. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram showing a gripper according to a first embodiment of the present invention, in which (a) is a side view showing a normal state, and (b) is a side view showing a compressed state. FIG. 3 is an enlarged plan view showing a hard region of the gripper according to the first embodiment of the present invention. FIG. 3 is an enlarged plan view showing a soft region of the gripper according to the first embodiment of the present invention. FIG. 5 is a sectional view taken along the line vi-vi in FIG. 4 showing a hard region of the gripper according to the first embodiment of the present invention. FIG. 6 is a sectional view taken along the line vii-vii in FIG. 5 showing the soft region of the gripper according to the first embodiment of the present invention. FIG. 2 is an enlarged perspective view showing a hard region of the gripper according to the first embodiment of the present invention. FIG. 2 is an enlarged perspective view showing a soft region of the gripper according to the first embodiment of the present invention. It is a perspective view showing a gripper concerning a second embodiment of the present invention. It is a figure which showed the gripper based on the second embodiment of this invention, Comprising: (a) is a side view which showed the normal state, (b) is a side view which showed the compressed state. 12(a) is an enlarged plan view, and FIG. 12(b) is a sectional view taken along line xii-xii in FIG. 12(a), showing a soft region of a gripper according to a first modification. 13(a) is an enlarged plan view, and FIG. 13(b) is a sectional view taken along line xiii-xiii in FIG. 13(a), showing a soft region of a gripper according to a second modification.

A gripper according to a first embodiment of the present invention will be described in detail with reference to the attached drawings. As shown in FIGS. 1 and 2, a gripper 1 according to the present embodiment is for directly gripping a soft object 2 (see FIG. 2) such as food. The gripper 1 is arranged at the tip of the robot arm 3, and is held between the gripping mechanisms 4 at the tip of the robot arm 3 (see FIG. 2). The gripping mechanism 4 includes a rotating portion 5 and a pair of gripping

portions

6, 6 protruding from the rotating portion 5. The

gripping parts

6, 6 are formed in a rectangular plate shape, and are provided so as to be able to approach and separate from each other. The gripping

parts

6, 6 grip the gripper 1 and compress the gripper 1 by coming close to each other. In this embodiment, the compression direction of the gripper 1 (the direction of approaching and separating the gripping parts 6, 6) is the Z-axis direction, and each part is defined based on this Z-axis direction and the X-axis direction and Y-axis direction orthogonal to the Z-axis direction. The configuration of is explained.

As shown in FIGS. 1 to 3, the gripper 1 includes a pair of projecting

portions

10, 10 and a connecting portion 11, and has a U-shape when viewed from the side. The projecting portion 10 is a portion that grips the object 2 from both sides in the Z-axis direction, and has a rectangular plate shape that extends parallel to a plane including the X-axis and the Y-axis. The projecting portions 10 project from both ends of the connecting portion 11 in the Z-axis direction along the X-axis direction. The mutually opposing surfaces of the projecting portions 10 serve as gripping surfaces for gripping the object 2. This gripping surface may be planar or may be formed into an uneven shape depending on the shape of the object 2.

The connecting portion 11 is a portion that connects the pair of projecting

portions

10, 10, and is formed in a rectangular parallelepiped shape. The overhanging portion 10 is continuously and integrally formed on the side surface of the connecting portion 11 on the side of the overhanging portion 10 . The width dimension of the connecting portion 11 in the Y-axis direction is equivalent to the width dimension of the overhang portion 10 in the Y-axis direction.

The gripper 1 including the projecting portion 10 and the connecting portion 11 is an elastic gripper having a gap 22 (see FIGS. 4 and 5) that is continuous in the gripping direction (Z-axis direction) for gripping the object 2 (see FIG. 2). The elastic member is divided into a soft region 20 and a hard region 21. The soft region 20 is softer than the hard region 21 and is soft enough to be compressed and deformed by the gripping force of the gripping mechanism 4 of the robot arm 3. The soft region 20 includes wall portions stacked in the gripping direction (Z-axis direction). The walls of the soft region 20 are laminated with a phase shift in a cross direction (X-axis direction and/or Y-axis direction) that intersects the gripping direction (Z-axis direction).

The hard region 21 is soft and cannot be compressed and deformed by the clamping force of the gripping mechanism 4. The hard region 21 includes wall portions stacked in the gripping direction (Z-axis direction). The wall portions of the hard region 21 are laminated so as to maintain the same phase in the intersecting directions (X-axis direction and Y-axis direction) that intersect with the gripping direction (Z-axis direction).

The soft region 20 is arranged at least in a part of the connecting portion 11. In this embodiment, the soft region 20 is arranged in a part of both the overhanging part 10 and the connecting part 11. Specifically, a soft region 20 is provided at the inner portion in the Z-axis direction of the overhang portion 10, and a hard region 21 is provided at the outer portion in the Z-axis direction. That is, a soft region 20 is provided at the contact portion of the overhang 10 that grips the object 2, and a hard region 21 is provided at the outer portion opposite to the contact portion.

Hard regions 21 are provided at both ends of the connecting portion 11 in the Z-axis direction, and a soft region 20 is provided between the hard regions 21 at both ends. The hard region 21 is provided over the entire region corresponding to the cross-sectional shape of the connecting portion 11 . In other words, hard regions 21 are formed at both ends of the connecting portion 11 in the Z-axis direction at portions that are gripped by the gripping portion 6 . The thickness dimension (thickness dimension in the Z-axis direction) of the hard region 21 of the overhanging part 10 and the thickness dimension (thickness dimension in the Z-axis direction) of the hard region 21 of the connecting part 11 are the same. The region 21 is continuous and integrally formed.

Hereinafter, the specific configuration of the overhanging portion 10 and the connecting portion 11 will be explained. As shown in FIGS. 4 to 9, the overhanging portion 10 and the connecting portion 11 are made of a parallel cross layer 24 in which elastic wire rods 23 are crossed in two directions, the X-axis direction and the Y-axis direction, and assembled in a parallel cross shape. Consists of layers stacked in the axial direction. Two types of wire rods 23 are provided, one extending in the X-axis direction and the other extending in the Y-axis direction. An X-axis wire layer 25 composed of wires 23 extending in the X-axis direction and a Y-axis wire layer 26 composed of wires 23 extending in the Y-axis direction are alternately laminated along the Z-axis direction. ing. In the X-axis wire rod layer 25, the wire rods 23 are arranged parallel to each other at predetermined intervals in the Y direction at equal pitches L1. In the Y-axis wire rod layer 26, the wire rods 23 are arranged parallel to each other at predetermined intervals in the X direction at equal pitches L1. The arrangement pitch L1 of the wire rods 23 in the X-axis wire rod layer 25 is the same as the arrangement pitch L1 of the wire rods 23 in the Y-axis wire rod layer 26. One layer of X-axis wire material 25 and one layer of Y-axis wire material 26 are combined in a state where they are adjacent to each other in the Z-axis direction, thereby forming one layer of parallel cross layer 24. When the parallel cross layer 24 is viewed from above, a square frame portion is formed by the wire rods 23 extending in the X-axis direction and the wire rods 23 extending in the Y-axis direction. A small space 22a having a square shape in a plan view is formed by the frame made of the wire rod 23, and this small space 22a is connected in the Z-axis direction to form the cavity 22. Each wire rod 23 serves as a wall portion that partitions the cavity 22. A plurality of such parallel cross layers 24 are stacked in the Z-axis direction to form the overhang portion 10 and the connecting portion 11.

In the parallel cross layer 24 in the soft region 20, the material filling rate (ratio of the volume of the wire rod 23 to the volume of the parallel cross layer 24) is in the range of 5 to 95% (preferably 10 to 50%). The material filling rate of the soft region 20 may be changed in the Z-axis direction. On the other hand, in the parallel cross layer 24 in the hard region 21, the material filling rate is in the range of 5 to 100% (preferably 25 to 100%).

In the soft region 20, as shown in FIGS. 5, 7, and 9, the

parallel layers

24, 24 adjacent to each other in the Z-axis direction have a phase shift in at least one of the X-axis direction and the Y-axis direction. Laminated in condition. In this embodiment, the

parallel layers

24, 24 adjacent to each other in the Z-axis direction have a phase shift in both the X-axis direction and the Y-axis direction. Specifically, the double cross layers 24, 24 adjacent in the Z-axis direction are in a phase shifted state by a distance L2, which is half the arrangement pitch L1 of the wire rods 23, in the X-axis direction and the Y-axis direction. That is, below the first double layer 24 (hereinafter referred to as "24a" when distinguishing from the second double layer 24 to be described later), there is a second double layer offset by a distance L2 in the X-axis direction and the Y-axis direction. A parallel layer 24 (hereinafter referred to as "24b" to distinguish from the first double layer 24a) is adjacent thereto. A parallel cross layer 24 further offset by a distance L2 in the X-axis direction and the Y-axis direction is adjacent to the lower side of the second parallel cross layer 24b. This parallel layer 24 is in the same phase as the first parallel layer 24a. That is, in the parallel cross layer 24, first parallel cross layers 24a and second parallel cross layers 24b are alternately stacked along the Z-axis direction. According to the soft region 20 having such a configuration, when compressed along the Z-axis direction, each wire rod 23 is elastically deformed and curved in the first parallel cross layer 24a and the second parallel cross layer 24b, Since the soft region 20 enters another gap 22 adjacent in the Z-axis direction, the length of the soft region 20 in the Z-axis direction becomes smaller. Specifically, the compression rate of the soft region 20 of this embodiment is 50%, and the length of the soft region 20 in the Z-axis direction can be compressed to approximately half (see (b) of FIG. 3).

In the hard region 21, as shown in FIGS. 4, 6, and 8,

parallel layers

24, 24 adjacent to each other in the Z-axis direction are laminated with the same phase maintained in the X-axis direction and the Y-axis direction. That is, below the wire rod 23 extending in the X-axis direction, the wire rods 23 extending in the X-axis direction are arranged in the same phase with the wire rod 23 extending in the Y-axis direction interposed therebetween. Below the wire 23 extending in the Y-axis direction, wires 23 extending in the Y-axis direction in the same phase are arranged with the wire 23 extending in the X-axis direction in between. Thereby, at the position where the wire rod 23 extending in the X-axis direction and the wire rod 23 extending in the Y-axis direction intersect, the wire rod 23 is arranged over the entire length in the Z-axis direction. Therefore, even if the hard region 21 is compressed along the Z-axis direction, only the elastic deformation of the wire rod 23 is compressed because the wire rods 23 are continuously arranged without gaps at the intersecting positions. Therefore, deformation in the Z-axis direction in the hard region 21 is small. In addition, in the hard region 21, a structure may be adopted in which the void portion 22 is filled with the same material as the wire rod 23. In this case, the material filling rate in the hard region 21 is 100%.

The gripper 1 having the soft region 20 and hard region 21 configured as described above is formed from a single elastic material using a 3D printer. Among 3D printers, for example, three-dimensional modeling apparatuses that manufacture objects based on three-dimensional design data are known. Various methods have been proposed and commercialized as methods for such three-dimensional modeling devices, such as stereolithography, powder sintering, inkjet methods, and molten resin extrusion methods. Materials such as photocurable resins, thermoplastic resins, metals, and plaster are commonly used as materials for three-dimensional modeling. In this embodiment, elastic resin is used.

According to the gripper 1 of this embodiment, since the intermediate portion in the Z-axis direction of the connecting portion 11 is constituted by the soft region 20, it can be compressively deformed in the Z-axis direction. In the soft region 20, the wire rods 23 are stacked with a phase shift so that they do not overlap in the Z-axis direction, so the wire rods 23 are elastically deformed into a curved shape. Therefore, the soft region 20 can be flexibly deformed. In other words, since the gripper 1 is soft and can grip the object 2, even a soft object can be gripped without damaging it.

In particular, in this embodiment, the parallel cross layer 24 is formed by intersecting elastic wire rods 23 in two directions, the X-axis direction and the Y-axis direction, in a parallel cross shape, and the soft region 20 is formed by intersecting the elastic wires 23 in two directions, the X-axis direction and the Y-axis direction. Since the

layers

24 and 24 are laminated with a phase shift in the X-axis direction and the Y-axis direction, the flexibility of the gripper 1 is improved. Furthermore, when an external force is applied to the gripper 1 from the robot arm 3, the soft region 20 deforms only in the Z direction and does not deform (bulge, etc.) in the XY plane. Therefore, since the object 2 does not come into contact with anything other than the projecting portion 10, it becomes even less likely to be damaged.

Furthermore, in the soft region 20, the wire rod 23 is elastically deformed within the cavity 22, so when the external force of the robot arm is released from the compressed state, the gripper 1 returns to its original shape. Therefore, the gripper 1 can be repeatedly used for gripping and releasing by the robot arm 3.

Furthermore, since hard regions 21 are provided in the portions of both ends of the gripper 1 in the Z-axis direction that contact the gripping portion 6 of the robot arm 3, both ends of the gripper 1 will not be deformed even if the gripper 1 is pinched by the gripping portion 6. It's difficult. Therefore, the gripper 1 can be stably gripped by the gripping part 6, and the external force of the robot arm can be reliably transmitted to the connecting part. Furthermore, since the hard region 21 is provided over the entire area corresponding to the shape of the connecting portion 11, the connecting portion is less likely to be twisted, and the external force of the robot arm 3 can be evenly transmitted to the connecting portion 11. can.

Furthermore, since the gripper 1 of this embodiment is integrally formed using a 3D printer, the gripper 1 can be easily manufactured in an accurate shape at low cost. In addition, it is possible to quickly produce a replacement product in case of functional deterioration. Furthermore, products with design changes can be easily manufactured.

Next, a gripper according to a second embodiment of the present invention will be described in detail with reference to FIGS. 10 and 11. As shown in FIGS. 10 and 11, the gripper 1a according to the present embodiment differs from the first embodiment in that a hard region 21 is provided at the center of the connecting portion 11 in the Z-axis direction. The central hard region 21 is a portion that serves as a spacer to prevent the pair of projecting

portions

10, 10 from coming closer than a certain distance. The hard region 21 is formed over the entire cross section of the connecting portion 11 . The dimension of the central hard region 21 in the Z-axis direction is determined as appropriate depending on the shape of the object 2. Specifically, the length in the Z-axis direction of the compressed state of the

soft regions

20, 20 on both sides of the central hard region 21 and the length of the hard region 21 in the Z-axis direction is the length that will not damage the object 2. Set it so that it is the same.
Note that other configurations are the same as those in the first embodiment, so the same reference numerals are given and explanations are omitted.

According to the gripper 1a of the second embodiment, in addition to obtaining the same effects as those of the first embodiment, damage to the object 2 can be prevented because the projecting

portions

10, 10 do not approach closer than a predetermined distance. It has the effect of being able to.

Next, the soft region according to the first modification will be described with reference to FIG. 12. As shown in FIGS. 12A and 12B, the soft region 20a differs from the first embodiment in the phase shift ratio of the double cross layer 24. Specifically, the ratio of the phase shift distance to the arrangement pitch of the wire rods 23 is different. In the soft region 20a of the first modification, the

parallel layers

24, 24 adjacent in the Z-axis direction are shifted in phase by a distance L4, which is one third of the arrangement pitch L3 of the wire rods 23, in the X-axis direction and the Y-axis direction. It is in a state where it has. In other words, there is a distance below the first Igeta layer 24 (hereinafter referred to as "24a" when distinguishing from the second Igeta layer 24 and the third Igeta layer 24 to be described later) in the X-axis direction and the Y-axis direction. A second parallel layer 24 (hereinafter referred to as "24b" when distinguishing from the first parallel layer 24a and the third parallel layer 24 to be described later) offset by L4 is adjacent. Then, below the second double layer 24b, a third double layer 24 (hereinafter, distinguished from the first double layer 24a and the second double layer 24b) is further offset by a distance L4 in the X-axis direction and the Y-axis direction. (referred to as "24c" in this case) are adjacent to each other. A parallel cross layer 24 that is further offset by a distance L4 in the X-axis direction and the Y-axis direction is adjacent to the third parallel cross layer 24c below. This parallel layer 24 is in the same phase as the first parallel layer 24a. That is, the parallel cross layer 24 includes a first double cross layer 24a, a second double cross layer 24b, and a third double cross layer 24c stacked in order along the Z-axis direction.

According to the soft region 20a having such a configuration, when compressed along the Z-axis direction, each wire rod 23 in the first parallel cross layer 24a, the second parallel cross layer 24b, and the third parallel cross layer 24c Since it is elastically deformed and curved and enters the gap 22 of the other cross layer 24, the length in the Z-axis direction becomes smaller. Specifically, the compression ratio of the soft region 20a in this modification is 66%, and the length of the soft region 20a in the Z-axis direction can be compressed to approximately one-third.

Next, the soft region according to the second modification will be described with reference to FIG. 13. As shown in FIGS. 13(a) and 13(b), in the soft region 20b, the ratio of the phase shift of the double cross layer 24 is different from that in the first embodiment and the second embodiment. Specifically, in the soft region 20b of the second modification, the

parallel layers

24, 24 adjacent to each other in the Z-axis direction are spaced at a distance of one quarter of the arrangement pitch L5 of the wire rods 23 in the X-axis direction and the Y-axis direction. The state is such that there is a phase shift of L6. In other words, the X-axis A second parallel layer 24 (hereinafter referred to as "24b" to distinguish from the first double layer 24a and the third and fourth double cross layers 24 to be described later) is offset by a distance L6 in the Y-axis direction and the Y-axis direction. Adjacent. Then, below the second double layer 24b, a third double layer 24 (hereinafter referred to as the first double layer 24a, second double layer 24b, and later described) is further offset by a distance L4 in the X-axis direction and the Y-axis direction. (referred to as "24c" to distinguish it from the fourth parallel layer 24) is adjacent thereto. Furthermore, below the third double layer 24c, a third double layer 24 (hereinafter referred to as the first double layer 24a, second double layer 24b, and (referred to as "24d" to distinguish it from the third Igata layer 24c) is adjacent thereto. A parallel cross layer 24 further offset by a distance L4 in the X-axis direction and the Y-axis direction is adjacent to the lower side of the fourth parallel cross layer 24d. This parallel layer 24 is in the same phase as the first parallel layer 24a. That is, the parallel cross layer 24 includes a first double cross layer 24a, a second double cross layer 24b, a third double cross layer 24c, and a fourth double cross layer 24d, which are stacked in order along the Z-axis direction.

According to the soft region 20a having such a configuration, when compressed along the Z-axis direction, the first double layer 24a, the second double layer 24b, the third double layer 24c, and the fourth double layer At 24d, each wire 23 is elastically deformed and curved and enters the void 22 of the other cross layer 24, so the length in the Z-axis direction becomes smaller. Specifically, the compression ratio of the soft region 20b in this modification is 75%, and the length of the soft region 20b in the Z-axis direction can be compressed to approximately one-fourth.

The ratio of the distance of the phase shift of the parallel cross layer 24 to the arrangement pitch of the wire rods 23 is not limited to the above embodiments and modified examples, and can be changed as appropriate.

Although the embodiments for implementing the present invention have been described above, the present invention is not limited to the above embodiments, and design changes can be made as appropriate without departing from the spirit of the present invention. For example, in the embodiment described above, the hard regions 21 provided at both ends in the Z-axis direction are formed across the projecting portion 10 and the connecting portion 11, but the hard region 21 is not limited to this. The hard regions 21 may be formed only at both ends corresponding to the connecting portions 11.

Furthermore, in the embodiment described above, the parallel layer 24 of the soft region 20 is laminated with a phase shift in both the X-axis direction and the Y-axis direction. A state may also be provided in which there is a phase shift only in the direction.

Further, in the above embodiment, the wire rods 23 are assembled in a square grid shape, but the wire rods 23 are not limited to this. For example, the wire may be combined with other polygons such as a rectangular grid shape, hexagon, or octagon. Alternatively, voids may be appropriately arranged in parallel inside the overhanging portion and the connecting portion without using the wire.

1 Gripper 2 Object 3 Robot arm 10 Overhang portion 11 Connection portion 20 Soft region 21 Hard region 22 Gap portion 23 Wire rod (wall portion)
24 Igeta layer

Claims

A gripper placed at the tip of a robot arm to grip an object,
It integrally includes a pair of projecting parts that grip the object and a connecting part that connects the projecting parts,
The projecting portion and the connecting portion are made of an elastic member having a gap portion continuous in a gripping direction in which the object is gripped, and
At least a portion of the connecting portion is a soft region having a plurality of wall portions stacked in the gripping direction, and the wall portions adjacent in the gripping direction in the soft region are arranged in a cross direction intersecting the gripping direction. A gripper characterized in that the grippers are laminated with a phase shift in the layers.
The overhanging portion and the connecting portion are made of parallel layers in which elastic wire rods are crossed in two directions, the X-axis direction and the Y-axis direction, and assembled in a parallel cross-shape, and are laminated in the Z-axis direction,
2. The soft region is characterized in that the parallel layers adjacent in the Z-axis direction are laminated with a phase shift in at least one of the X-axis direction and the Y-axis direction. Gripper as described.
A hard region is provided at both ends in the Z-axis direction that abut the gripping portion of the robot arm,
The gripper according to claim 2, wherein in the hard region, the parallel layers adjacent in the Z-axis direction are stacked with the same phase maintained in the X-axis direction and the Y-axis direction.
The gripper according to claim 3, wherein the hard region is provided in the entire region corresponding to the shape of the connecting portion at both ends in the Z-axis direction.
The gripper according to claim 1 or 2, wherein the projecting portion and the connecting portion are integrally formed using a 3D printer.