JP2015085392A - Gripping device, transporting device and robot - Google Patents

Abstract

A robot including a holding device that stably holds a flexible material or an object to be gripped whose surface is slippery is provided.
A first gripping part and a second gripping part are provided, and at least one of the first gripping part or the second gripping part is flexible and the gripping film is fixed. A first fixing portion to be fixed, a second fixing portion to which the gripping film is fixed at a portion different from a portion to be fixed by the first fixing portion of the gripping membrane, the first fixing portion and the second fixing A first support portion and a second support portion that are rotatably fixed to the first support portion, and the first support portion and the second support portion are surfaces of the gripping film that are in contact with the object to be gripped. A gripping device arranged on the back side.
[Selection] Figure 1

Description

  The present invention relates to a gripping device, a transport device, and a robot.

  Robots that hold objects to be clamped are used in operations such as assembly work and classification work. There are a wide variety of objects to be held by the robot. Patent Document 1 discloses a robot hand that can hold a hard object to a flexible object. According to this, the robot hand includes a pair of holding bodies. A bag body filled with a gel fluid is installed on one side of the holding body. When the holding body sandwiches the object to be sandwiched, the bag body is deformed along the shape of the object to be sandwiched. Thereby, the robot hand could hold the object to be clamped stably.

  In addition, Patent Document 2 discloses a robot hand that holds objects to be sandwiched arranged side by side. The robot hand includes a pair of finger formers. The finger forming body is formed of a cylindrical soft material. By supplying a fluid into the fingertip part of the finger former, the fingertip part can be expanded. Then, after inserting the fingertip portion into the gap between the adjacent objects to be clamped, the fingertip portion is expanded. This hardens the fingertip. The robot hand held the object to be sandwiched between the hardened fingertips.

JP 2012-148380 A Japanese Patent Laid-Open No. 9-103983

  In the robot hand of Patent Document 1, a pair of holding bodies provided with a bag body hold the object to be clamped from both sides. When the objects to be clamped are installed side by side, the holding body in which the bag body is installed cannot be inserted between the adjacent objects to be clamped unless the adjacent objects to be clamped are separated from each other.

  In the robot hand of Patent Document 2, the side of the object to be clamped is pinched by a hard fingertip. Since the object to be clamped was held by the frictional force when the side surface of the object to be clamped was pressed, it was easily affected by the surface condition and hardness of the object to be clamped. Therefore, in the case of a flexible material or a sandwiched object whose surface is slippery, stable holding may not be performed. Therefore, there has been a demand for a robot including a holding device that stably holds a flexible material or a sandwiched object whose surface is slippery.

  SUMMARY An advantage of some aspects of the invention is to solve at least a part of the problems described above, and the invention can be implemented as the following forms or application examples.

  Application Example 1 A gripping device according to this application example includes a first gripping part and a second gripping part, and at least one of the first gripping part or the second gripping part is flexible. A gripping film, a first fixing part to which the gripping film is fixed, and a second fixing part to which the gripping film is fixed at a part different from a part fixed by the first fixing part of the gripping film, A first support part and a second support part rotatably fixed to the first fixing part and the second fixing part, wherein the first support part and the second support part are the gripping film It is arrange | positioned at the back surface side of the surface which contacts the said to-be-gripped object.

  According to the gripping device of this application example, the gripping film provided for the first gripping part and the second gripping part, or the first gripping part or the second gripping part is provided, and the first gripping part and the second gripping part are provided. The object to be grasped disposed between the two can be held and held in contact with the grasping film. Since the gripping film has flexibility, the gripping object is gripped while being deformed so as to wrap around the outer shape of the gripping object. Therefore, since a large amount of friction is not required between the object to be gripped and the gripping device, the object to be gripped can be held with a small gripping force (clamping force), and a soft material or a material whose surface is slippery. The object to be grasped can be grasped and transported without being damaged.

  Application Example 2 In the application example described above, the first support portion and the second support portion are a rotation shaft portion rotatably fixed to the first fixing portion and the second fixing portion, and the rotation shaft. And a frame portion extending in a direction intersecting with the rotation center of the rotating shaft portion.

  According to the application example described above, by gripping the object to be gripped, the frame part rotates around the rotation center of the rotating shaft part so as to follow the object to be gripped through the gripping film. In other words, when the gripping device is not gripping the object to be gripped, the support part including the frame part is arranged along the gripping film, and even when the distance between adjacent objects to be gripped is small, the small interval is easily provided. The operation of gripping the target gripping object can be performed without damaging the gripping object adjacent to the first fixing part or the second fixing part serving as the gripping tip in the (gap).

  Then, in a state where the object to be grasped is grasped by the grasping film, the frame parts of the first support part and the second support part are rotated by the object to be grasped via the grasping film so as to follow the first support part and the first support part. The object to be grasped that is grasped in the grasping film by the two support parts is not pressed and damaged, and the first fixing part and the second fixing part can be stably supported. That is, the gripping film stretched by the first fixing portion and the second fixing portion can be attached to the gripping device with a stable tension.

  Application Example 3 In the application example described above, the gripping film includes a first gripping region, and the first gripping along the stretching direction of the gripping film that is stretched through the first fixing portion and the second fixing portion. A second gripping region extending along the gripping film stretching direction at the outer edge of the region, and the tension in the gripping film stretching direction is greater in the second gripping region than in the first gripping region It is characterized by.

  The magnitude of the tension in the above application example is the ratio of elongation when the two objects are pulled with the same stress per unit area in the cross section orthogonal to the stretching direction (when stretched), that is, the one with the smaller elongation rate. This indicates that the object has a higher tension than an object having a high elongation rate. In other words, when an object having the same size and different tension is pulled in the same extension direction, the elongation amount of the object having a higher tension is small, and the elongation amount of the object having a smaller tension is increased.

  According to the application example described above, the deformation amount of the second grip region is suppressed to be small due to the large tension with respect to the deformation amount of the first grip region when the object is gripped. When the object to be grasped is formed of a slippery material, the first grasping area is deformed so as to swell corresponding to the shape of the object to be grasped in the direction in which the first grasping part and the second grasping part approach each other. To do. However, the action of trying to slide and move in a direction intersecting the direction in which the first gripping portion and the second gripping portion approach by the repulsive force of the bulging deformation of the first gripping region works.

  The movement of the object to be gripped is prevented from being deformed by the object to be gripped in the second gripping area having a high tension with respect to the first gripping area. As a result, the first gripping part and the second gripping of the object to be gripped are suppressed. Slip in the direction intersecting the direction in which the part approaches is prevented. Therefore, the object to be grasped having a soft and slippery surface can be reliably held in the grasping device.

  Application Example 4 In the application example described above, the film thickness of the second grip region is larger than the film thickness of the first grip region.

  According to the application example described above, it is possible to easily form the second grip region having high tension.

  Application Example 5 In the application example described above, a tension reinforcing member having a tension higher than the tension in the gripping film extending direction of the first gripping region is joined or included in the second gripping region. Features.

  According to the application example described above, the tension of the second gripping film region can be easily adjusted by the material and thickness of the tension reinforcing member. As the tension reinforcing member, it is preferable to use a metal, for example, a wire such as stainless steel or titanium, or a wire made of high-strength synthetic resin.

  [Application Example 6] The transport device according to this application example includes a first grip part and a second grip part that grip the object to be gripped by approaching each other, and the first grip part or the second grip part of the second grip part. At least one of them has a flexible gripping film having at least two sides parallel to the outer periphery, a first fixing part to which one of the two parallel sides is fixed, and the other side is fixed. A second support part, a first support part and a second support part rotatably fixed to the first fix part and the second fix part, wherein the first support part and the first support part 2 support part is provided in the back surface side of the surface which contacts the said to-be-gripped object of the said gripping film, and is provided with the holding | grip apparatus which extends the said gripping film via the said 1st fixing | fixed part and the said 2nd fixing | fixed part. It is characterized by.

  According to the transfer device of this application example, the first gripping unit and the second gripping unit are provided with the gripping film provided for the first gripping unit and the second gripping unit, or the first gripping unit or the second gripping unit. The object to be grasped disposed between the two can be held and held in contact with the grasping film. Since the gripping film has flexibility, the gripping object is gripped while being deformed so as to wrap around the outer shape of the gripping object. Therefore, since a large amount of friction is not required between the object to be gripped and the gripping device, the object to be gripped can be held with a small gripping force (clamping force), and a soft material or a material whose surface is slippery. The object to be grasped can be grasped and transported without being damaged.

  Application Example 7 In the application example described above, the gripping device includes the first support portion and the second support portion, and a rotating shaft portion rotatably fixed to the first fixing portion and the second fixing portion. And a frame portion extending in a direction intersecting with the rotation center of the rotation shaft portion from the rotation shaft portion.

  According to the application example described above, by gripping the object to be gripped, the frame part rotates around the rotation center of the rotating shaft part so as to follow the object to be gripped through the gripping film. In other words, when the gripping device is not gripping the object to be gripped, the support part including the frame part is arranged along the gripping film, and even when the distance between adjacent objects to be gripped is small, the small interval is easily provided. The operation of gripping the object to be gripped can be performed without damaging the object to be gripped adjacent to the first fixed portion or the second fixed portion serving as the gripping tip in the (gap).

  Then, in a state where the object to be grasped is grasped by the grasping film, the frame parts of the first support part and the second support part are rotated by the object to be grasped via the grasping film so as to follow the first support part and the first support part. The object to be grasped that is grasped in the grasping film by the two supporting parts is not pressed and damaged, and the first fixing part and the second fixing part can be stably supported. That is, it is possible to obtain a transport device including a gripping device in which the gripping film stretched by the first fixing portion and the second fixing portion is mounted with a stable tension.

  Application Example 8 In the application example described above, the gripping film of the gripping device extends along a gripping film stretching direction that is stretched through the first gripping region, the first fixing unit, and the second fixing unit. A second gripping region extending along the gripping film stretching direction at an outer edge portion of the first gripping region, and tension in the gripping film stretching direction is greater than the second gripping force from the first gripping region. It is characterized by a large area.

  According to the application example described above, the deformation amount of the second grip region is suppressed to be small due to the large tension with respect to the deformation amount of the first grip region when the object is gripped. When the object to be grasped is formed of a slippery material, the first grasping area is deformed so as to swell corresponding to the shape of the object to be grasped in the direction in which the first grasping part and the second grasping part approach each other. To do. However, the action of trying to slide and move in a direction intersecting the direction in which the first gripping portion and the second gripping portion approach by the repulsive force of the bulging deformation of the first gripping region works.

  The movement of the object to be gripped is prevented from being deformed by the object to be gripped in the second gripping area having a high tension with respect to the first gripping area. As a result, the first gripping part and the second gripping of the object to be gripped are suppressed. Slip in the direction intersecting the direction in which the part approaches is prevented. Accordingly, it is possible to obtain a transport device that can transport the object to be gripped on the soft and slippery surface to a predetermined position in a state in which the object is securely held by the grip device.

  Application Example 9 A robot according to this application example includes an arm and a gripping device that is rotatably connected to the arm, and the gripping device approaches the first to hold the object to be gripped. And a second gripping part, and at least one of the first gripping part or the second gripping part has a flexible gripping film having at least two sides parallel to the outer periphery, and the two parallel parts A first fixing part to which one side of the side is fixed, a second fixing part to which the other one side is fixed, and the first fixing part and the second fixing part are rotatably fixed. A first support portion and a second support portion, wherein the first support portion and the second support portion are disposed on a back surface side of the surface of the gripping film that contacts the object to be gripped, and the first fixed portion. And extending the gripping film via the second fixing portion and the second fixing portion. To.

  According to the robot of this application example, the first gripping unit and the second gripping unit are provided with the gripping film provided in either the first gripping unit and the second gripping unit, or the first gripping unit and the second gripping unit. The object to be grasped disposed between the two can be held and held in contact with the grasping film. Since the gripping film has flexibility, the gripping object is gripped while being deformed so as to wrap around the outer shape of the gripping object. Therefore, since a large amount of friction is not required between the object to be gripped and the gripping device, the object to be gripped can be held with a small gripping force (clamping force), and a soft material or a material whose surface is slippery. The object to be grasped can be grasped and transported without being damaged.

  Application Example 10 In the application example described above, the gripping device includes the first support part and the second support part, and a rotating shaft part rotatably fixed to the first fixing part and the second fixing part. And a frame portion extending in a direction intersecting with the rotation center of the rotation shaft portion from the rotation shaft portion.

  According to the application example described above, by gripping the object to be gripped, the frame part rotates around the rotation center of the rotating shaft part so as to follow the object to be gripped through the gripping film. In other words, when the gripping device is not gripping the object to be gripped, the support part including the frame part is arranged along the gripping film, and even when the distance between adjacent objects to be gripped is small, the small interval is easily provided. The operation of gripping the target gripping object can be performed without damaging the gripping object adjacent to the first fixing part or the second fixing part serving as the gripping tip in the (gap).

  Then, in a state where the object to be grasped is grasped by the grasping film, the frame parts of the first support part and the second support part are rotated by the object to be grasped via the grasping film so as to follow the first support part and the first support part. The object to be grasped that is grasped in the grasping film by the two support parts is not pressed and damaged, and the first fixing part and the second fixing part can be stably supported. That is, it is possible to obtain a robot including a gripping device in which the gripping film stretched by the first fixing portion and the second fixing portion is mounted with a stable tension.

  Application Example 11 In the application example described above, the gripping film of the gripping device extends along a gripping film stretching direction that is stretched through the first gripping region, the first fixing unit, and the second fixing unit. A second gripping region extending along the gripping film stretching direction at an outer edge portion of the first gripping region, and tension in the gripping film stretching direction is greater than the second gripping force from the first gripping region. It is characterized by a large area.

  According to the application example described above, the deformation amount of the second grip region is suppressed to be small due to the large tension with respect to the deformation amount of the first grip region when the object is gripped. When the object to be grasped is formed of a slippery material, the first grasping area is deformed so as to swell corresponding to the shape of the object to be grasped in the direction in which the first grasping part and the second grasping part approach each other. To do. However, the action of trying to slide and move in a direction intersecting the direction in which the first gripping portion and the second gripping portion approach by the repulsive force of the bulging deformation of the first gripping region works.

  The movement of the object to be gripped is prevented from being deformed by the object to be gripped in the second gripping area having a high tension with respect to the first gripping area. As a result, the first gripping part and the second gripping of the object to be gripped are suppressed. Slip in the direction intersecting the direction in which the part approaches is prevented. Therefore, it is possible to obtain a robot capable of transporting to a predetermined position in a state where the object to be grasped having a soft and slippery surface is securely held by the grasping device.

The schematic perspective view which shows the structure of the holding | gripping apparatus which concerns on 1st Embodiment. The structure of the holding | gripping apparatus which concerns on 1st Embodiment is shown, (a) is a schematic perspective view, (b) is the cross section of the AA 'part direction shown to Fig.1 (a), (b) and Fig.2 (a). Figure. FIG. 4A is a partial side view in the Y direction of FIG. 1A, and FIG. 3B is a cross-sectional view of a CC ′ portion shown in FIG. 3A of the gripping device according to the first embodiment. FIG. 5A is a partial side view in the Y direction of FIG. 1B and FIG. 4B is a cross-sectional view taken along the line CC ′ shown in FIG. 4A of the gripping device according to the first embodiment. FIG. 5A is a partial side view in the Y direction of FIG. 2A and FIG. 5B is a cross-sectional view of a CC ′ portion shown in FIG. 5A of the gripping device according to the first embodiment. (A) is a principal part schematic cross section which shows a 1st urging | biasing part and a base, (b) is a principal part schematic cross section which shows the connection structure of a 1st stick | rod and a 1st front-end | tip part. The schematic diagram for demonstrating operation | movement of a 1st stick | rod-a 4th stick | rod. The schematic diagram for demonstrating operation | movement of a 1st stick | rod-a 4th stick | rod. Sectional drawing which shows the other form of the holding | grip film | membrane with which the holding | grip apparatus which concerns on 1st Embodiment is equipped. FIG. 5 is a schematic cross-sectional view for explaining the effect of the gripping film provided in the gripping device according to the first embodiment. The external view of the robot which concerns on 2nd Embodiment. The schematic front view which shows the other form of the robot which concerns on 2nd Embodiment. The schematic front view which shows the other form of the robot which concerns on 2nd Embodiment.

  Embodiments according to the present invention will be described below with reference to the drawings.

(First embodiment)
1 and 2 are schematic perspective views showing the configuration of the gripping device according to the first embodiment. FIG. 1A shows a state immediately before the gripping device holds the object to be gripped, and FIG. Indicates a state in which the gripping device is in contact with the object to be gripped. FIG. 2A shows a state in which the robot hand holds the object to be grasped. FIG. 2B is a schematic side sectional view showing the configuration of the gripping device.

  As shown in FIG. 1A to FIG. 2B, an object to be grasped 2 is placed on a square plate-like mounting table 1. The surface of the mounting table 1 facing the upper side in the figure is a flat surface 1a. The direction of the normal line of the plane 1a is the direction opposite to the direction in which gravitational acceleration acts, and this direction is the Z direction. The directions along the plane 1a are the X direction and the Y direction, and the X direction, the Y direction, and the Z direction are orthogonal to each other. The object to be grasped 2 is not particularly limited and may be a flexible object or an object that is difficult to deform. The object to be grasped 2 is, for example, an object such as ham, sausage, cheese, cream croquette, konnyaku, tofu, agar, etc. It is suitable for grasping etc. In order to make the figure easy to see, only one object to be grasped 2 is placed on the placing table 1, but a plurality of objects to be grasped 2 may be arranged close to each other on the placing table 1. .

  A gripping device 4 installed in the transport device 3 is located in the Z direction of the object to be gripped 2. The transport device 3 includes an arm 5 extending in the Y direction and a drive unit (not shown) connected to the arm 5. And the conveying apparatus 3 can move the arm 5 by operating a drive part.

  A lifting mechanism 6 and a rotating mechanism 7 are installed at the tip of the arm 5. The elevating mechanism 6 and the rotating mechanism 7 rotate the elevating rotation shaft 8 to reciprocate the elevating rotation shaft 8 in the Z direction. The structure of the raising / lowering mechanism 6 and the rotation mechanism 7 is not specifically limited. As the elevating mechanism 6, a motor and a ball screw, a linear motor, a rack and a pinion, or the like can be used. For example, in this embodiment, the elevating mechanism 6 has a structure in which a motor and a ball screw are combined, and the ball screw directly moves the elevating rotation shaft 8. The rotation mechanism 7 has a structure in which a motor and a reduction gear are combined, and the reduction gear rotates the up-and-down rotation shaft 8.

  A gripping device 4 is installed at the end in the −Z direction of the lifting / lowering rotation shaft 8. The gripping device 4 includes a position changing unit 9 connected to the lifting / lowering rotation shaft 8. The position changing unit 9 has a substantially rectangular parallelepiped shape. As shown in FIG. 2B, a pair of rails 9 a are installed on the surface on the −Z direction side of the position changing unit 9 so as to extend in the X direction. A first stage 9b and a second stage 9c are suspended from the rail 9a. The first stage 9b and the second stage 9c move in the ± X direction along the rail 9a. The ± X direction in which the first stage 9b and the second stage 9c move is defined as a position change direction 9d.

  The position changing unit 9 includes a linear motion mechanism (not shown) inside, and the linear motion mechanism reciprocates the first stage 9b and the second stage 9c in the position change direction 9d. The position changing unit 9 can move the first stage 9b and the second stage 9c independently of each other. The structure of the linear motion mechanism provided in the position changing unit 9 is not particularly limited, and a mechanism similar to the lifting mechanism 6 can be used. In the present embodiment, for example, the linear motion mechanism is configured by combining a step motor and a ball screw.

  On the −Z direction side of the first stage 9b, a first gripping part 10 is installed as a holding part connected to the first stage 9b. On the −Z direction side of the second stage 9c, a second gripping part 11 is installed as a holding part connected to the second stage 9c. The position changing unit 9 has a function of changing the relative position between the first holding unit 10 and the second holding unit 11 by moving the first stage 9b and the second stage 9c. In this relative position control, a method based on position control using a preset template, a method based on gripping pressure control in which gripping is performed while monitoring the gripping pressure with a pressure sensor or the like can be used.

  The first gripping part 10 includes a first base 12 as a first fixing part of the first gripping part 10 connected to the position changing part 9, and the position changing part 9 moves the first base 12. The first base 12 has a shape in which a rectangular parallelepiped first horizontal member 12b extending in the Y direction is connected to one end of a rectangular bar-shaped vertical member 12a extending in the Z direction. Similarly, the second gripping part 11 also includes a second base part 13 as a first fixing part of the second gripping part 11 connected to the position changing part 9, and the position changing part 9 moves the second base part 13. The second base portion 13 has a shape in which a rectangular parallelepiped second horizontal member 13b extending in the Y direction is connected to an end of a rectangular bar-shaped vertical member 13a extending in the Z direction. The vertical member 12 a and the vertical member 13 a are connected to the linear motion mechanism of the position changing unit 9. Then, the position changing unit 9 changes the interval between the vertical member 12a and the vertical member 13a.

  A first rod 14 as a first support portion and a second rod 15 as a second support portion of the first grip portion 10 extending in the -Z direction are installed on the -Z direction side of the first lateral member 12b. Yes. The first rod 14 is installed so as to be rotatable about a rotation shaft 14a along the Z direction. Similarly, the second rod 15 is also installed so as to be rotatable about a rotation shaft 15a along the Z direction. The rotating shaft 14a and the rotating shaft 15a are orthogonal to the position change direction 9d. The first rod 14 extends to the first transverse member 12b along the rotation axis 14a, a linear portion 14e as a rotation axis, an arc portion 14b extending from the linear portion 14e so as to intersect the rotation axis 14a, and the rotation axis 14a. Projecting portion 14c. Furthermore, it has the circular arc part 14g extended in the -Z direction of the protrusion part 14c, and the linear part 14h centering on the rotating shaft 14a connected to the circular arc part 14g. Similarly, the second rod 15 extends to the transverse member 12b along the rotation axis 15a, a linear portion 15e as a rotation axis, an arc portion 15b extending from the linear portion 15e so as to intersect the rotation axis 15a, and the rotation axis 15a. Projecting portion 15c. Furthermore, it has the circular arc part 15g extended in the -Z direction of the protrusion part 15c, and the linear part 15h centering on the rotating shaft 15a connected to the circular arc part 15g. And the 1st front-end | tip part 18 as the 2nd fixing | fixed part of the 1st holding part 10 is being fixed to the linear part 14h of the 1st stick | rod 14, and the linear part 15h of the 2nd stick | rod 15 so that rotation is possible. .

  On the Z direction side of the first lateral member 12b, a first biasing portion 16 as a biasing portion is installed at a location facing the first rod 14, and a first biasing portion as a biasing portion is disposed at a location facing the second rod 15. Two urging units 17 are installed. The first urging portion 16 is connected to the straight portion 14e of the first rod 14, and generates torque according to the angle at which the first rod 14 rotates. Similarly, the second urging portion 17 is connected to the straight portion 15e of the second rod 15, and generates a torque corresponding to the angle at which the second rod 15 rotates. The first urging unit 16 and the second urging unit 17 urge the first rod 14 and the second rod 15 in a predetermined rotation direction.

  As described above, the first rod 14 is a rod having two arc portions 14b and 14g and having a bow shape or a substantially bow shape. Both ends of the first rod 14 are straight and are straight portions 14e and 14h arranged along the rotation shaft 14a. A portion between the two arc portions 14b and 14g farthest from the rotating shaft 14a is defined as a protruding portion 14c. In the illustration of the present embodiment (FIGS. 1 and 2), the protrusion 14c is formed in a straight line, but may be, for example, an arc-shaped protrusion. Similarly, the second rod 15 is a rod having two arc portions 15b and 15g and having a bow shape or a substantially bow shape. Both ends of the second rod 15 are straight and are straight portions 15e and 15h arranged along the rotation shaft 15a. A portion between the two arc portions 15b and 15g farthest from the rotating shaft 15a is defined as a protruding portion 15c. In the illustration of the present embodiment (FIGS. 1 and 2), the protruding portion 15c is formed in a straight line, but may be, for example, an arc-shaped protruding portion, or the protruding portion of the first rod 14 14c and the protrusion 15c of the second rod 15 may not have the same shape.

  The first rod 14 and the second rod 15 are not limited in cross-sectional shape, but as will be described later, the grasping film 25 that comes into contact with the grasped object 2 by grasping the grasped object 2 by the grasping device 4 includes: Approaches and contacts the first rod 14 and the second rod 15. At this time, in order not to damage the surface of the gripping film 25 that contacts the first rod 14 and the second rod 15, it is preferable to have a circular cross-sectional shape with no corners in the cross-sectional shape. Note that the first rod 14 and the second rod 15 may be formed of hollow tubes.

  The second grip 11 has the same configuration as the first grip 10. A third rod 20 as a first support portion and a fourth rod 21 as a second support portion of the second grip portion 11 extending in the −Z direction are installed on the −Z direction side of the second lateral member 13b. Yes. The third rod 20 is installed so as to be rotatable about a rotation shaft 20a along the Z direction. Similarly, the fourth rod 21 is also installed so as to be rotatable about a rotation shaft 21a along the Z direction. The rotating shaft 20a and the rotating shaft 21a are orthogonal to the position changing direction 9d. The third rod 20 extends to the second transverse member 13b along the rotation axis 20a, a linear portion 20e as a rotation axis, an arc portion 20b extending from the linear portion 20e so as to intersect the rotation axis 20a, and the rotation axis 20a. Projecting portion 20c. Furthermore, it has the circular arc part 20g extended in the -Z direction of the protrusion part 20c, and the linear part 20h centering on the rotating shaft 20a connected to the circular arc part 20g. Similarly, the fourth rod 21 extends along the linear portion 21e serving as the rotational axis to the first lateral member 12b, the arc portion 21b extending from the linear portion 21e so as to intersect the rotational shaft 21a, and the rotational shaft 21a. And an extended protrusion 21c. Furthermore, it has the circular arc part 21g extended in the -Z direction of the protrusion part 21c, and the linear part 21h centering on the rotating shaft 21a connected to the circular arc part 21g. And the 2nd front-end | tip part 24 as the 2nd fixing | fixed part of the 2nd holding | grip part 11 is fixed to the linear part 20h of the 3rd stick | rod 20, and the linear part 21h of the 4th stick | rod 21 so that rotation is possible. .

  On the Z direction side of the first transverse member 12b, a third urging portion 22 as an urging portion is installed at a location facing the third rod 20, and a third urging portion as an urging portion is located at a location facing the fourth rod 21. Four urging units 23 are installed. The third urging portion 22 is connected to the straight portion 20e of the third rod 20, and generates a torque corresponding to the angle at which the third rod 20 rotates. Similarly, the fourth urging portion 23 is connected to the straight portion 21e of the fourth rod 21 and generates a torque corresponding to the angle at which the fourth rod 21 rotates. The third urging portion 22 and the fourth urging portion 23 urge the third rod 20 and the fourth rod 21 in a predetermined rotation direction.

  As described above, the third rod 20 has two arc portions 20b and 20g and has a bow shape or a substantially curved bow shape. Both ends of the third rod 20 are straight and are straight portions 20e and 20h arranged along the rotation axis 20a. A portion between the two arc portions 20b and 20g farthest from the rotating shaft 20a is defined as a protruding portion 20c. In the illustration of the present embodiment (FIGS. 1 and 2), the protrusion 20c is formed in a straight line, but may be, for example, an arc-shaped protrusion. Similarly, the fourth rod 21 is a rod having two arc portions 21b and 21g and having a bow shape or a substantially bow shape. Both ends of the fourth rod 21 are linear portions 21e and 21h arranged along the rotation shaft 21a. A portion between the two arc portions 21b and 21g farthest from the rotating shaft 21a is defined as a protruding portion 21c. In the illustration of the present embodiment (FIGS. 1 and 2), the protruding portion 21c is formed in a linear shape, but may be an arc-shaped protruding portion or the like, for example, and the protruding portion of the third rod 20 20c and the protrusion part 21c of the 4th bar | burr 21 do not need to be the same shape.

  The cross-sectional shape of the third rod 20 and the fourth rod 21 is not limited, but the gripping film 26 that comes into contact with the gripped object 2 by gripping the gripped object 2 by the gripping device 4 is formed by the third rod 20. And approaches and contacts the fourth rod 21. At this time, in order not to damage the surface of the gripping film 26 that comes into contact with the third rod 20 and the fourth rod 21, it is preferable that the cross-sectional shape has, for example, a circular cross section. Note that the third rod 20 and the fourth rod 21 may be formed of hollow tubes.

  A gripping film 25 is installed on the first gripping portion 10 so as to contact the object to be gripped 2 between the first lateral member 12 b and the first tip portion 18. One end of the gripping film 25 is fixed to the first lateral member 12 b, the other end is fixed to the first distal end 18, and the first lateral member 12 b is secured by the first rod 14 and the second rod 15. And extended in the Z direction via the first tip 18. Similarly, a gripping film 26 is installed on the second gripping part 11 so as to come into contact with the object to be gripped 2 between the second lateral member 13 b and the second tip part 24. One end of the gripping film 26 is fixed to the second horizontal member 13b, the other end is fixed to the second distal end 24, and the third bar 20 and the fourth bar 21 are connected to the second horizontal member 13b. The gripping film 26 is extended in the Z direction via the second tip portion 24. That is, in the gripping device 4, the gripping films 25 and 26 are disposed so that the gripping object contact areas 25 a and 26 a as the first gripping areas that sandwich and touch the gripping object 2 are opposed to each other. The material of the gripping film 25 and the gripping film 26 is not particularly limited as long as it is an elastic material. As the material of the gripping film 25 and the gripping film 26, for example, a synthetic rubber such as silicon rubber, a cloth knitted with natural rubber or thread-like rubber, or the like can be used. Further, the gripping film 25 and the gripping film 26 may be formed in a net shape to be flexible and used. In the present embodiment, silicon rubber is used for the gripping film 25 and the gripping film 26.

  When the position changing unit 9 narrows the distance between the first stage 9b and the second stage 9c, the gripping film 25 and the gripping film 26 come into contact with the side surface of the object to be gripped 2 and the bottom surface on the side surface side. The first gripping unit 10 and the second gripping unit 11 hold the object to be gripped 2 between a gripping film 25 and a part of the gripping film 26.

  On the Y direction side of the gripping device 4 in the figure, a control unit 27 is installed. The control unit 27 is a device that controls the arm 5 and the gripping device 4. The control unit 27 moves the first stage 9b and the second stage 9c to adjust the distance between the first gripping unit 10 and the second gripping unit 11.

  The materials of the first base 12, the second base 13, the first tip 18, the second tip 24, the first rod 14, the second rod 15, the third rod 20, and the fourth rod 21 are resistant to cleaning and disinfection and are rigid. There is no particular limitation as long as it has a certain material. Metal, silicone resin, or the like can be used. In the present embodiment, for example, the materials of the first base portion 12, the second base portion 13, the first tip portion 18, the second tip portion 24, the first rod 14, the second rod 15, the third rod 20, and the fourth rod 21 are used. Stainless steel is used for the. In addition, the washing | cleaning can use the method of combining mechanical washing | cleaning, such as the method of immersing in a washing | cleaning liquid and ultrasonically cleaning, and brushing. For disinfection, for example, boiling disinfection or chlorine disinfection can be performed.

  As shown in FIG. 1A, when the gripping device 4 does not hold the object to be gripped 2, the first rod 14 and the second rod 15 are arranged along the same plane, and the third rod 20 and the second rod The four bars 21 are arranged along the same plane. As shown in FIG. 1B, when the first base portion 12 and the second base portion 13 approach, the first rod 14 to the fourth rod 21 come into contact with the object to be grasped 2. Since the first rod 14 to the fourth rod 21 are curved in a bow shape, the first rod 14 to the fourth rod 21 rotate and the first tip portion 18 and the second tip portion 24 are to be grasped. 2 is located closer to the center than the outer periphery in the ± X direction.

  As shown in FIG. 2A, the first base portion 12 and the second base portion 13 are further approached. The first rod 14 and the second rod 15 project to the −X side, and the third rod 20 and the fourth rod 21 project to the X side. And the 1st tip part 18 and the 2nd tip part 24 are located in the center side from the perimeter of the X direction of further thing 2 to be grasped.

  In the present embodiment, the gripping films 25 and 26 provided in the gripping device 4 will be described by using the sphere shown in FIGS. 1 and 2 as an example. FIG. 3A is a partial front view in the Y direction of the gripping device 4 shown in FIG. FIG. 3B is a cross-sectional view taken along the line CC ′ shown in FIG.

  In a state where the object to be grasped 2 shown in FIG. 3A is placed on the placing table 1, the grasping films 25 and 26 provided in the grasping device 4 are separated from the object to be grasped 2. At this time, the 1st stick | rod 14, the 2nd stick | rod 15, the 3rd stick | rod 20, and the 4th stick | rod 21 are urged | biased by the urging | biasing part 16,17,22,23, and it protrudes as shown in FIG.3 (b). The parts 14c and 15c and the protruding parts 20c and 21c are arranged so as to be close to each other in the Y direction.

  As shown in FIG. 3B, the gripping film 25 is formed on the gripping object contact region 25a as the first gripping region that contacts the gripping object 2 and the outer edge in the Y direction of the gripping object contact region 25a. And a high tension portion 25b as a second grip region. By supporting the first transverse member 12b and the first tip 18 to which the gripping film 25 is attached by the first rod 14 and the second rod 15, the gripping film 25 is stretched in the stretching direction F so as to be substantially in the Z direction. The high tension portion 25b extends along the extending direction F. The high tension portion 25b is thick with respect to the object contact region 25a, and the tensile stress of the high tension portion 25b is the tensile force of the object contact region 25a with respect to the displacement amount in the extension direction F. It is larger than the stress.

  Similarly, as shown in FIG. 3B, the gripping film 26 includes a gripping object contact region 26a as a first gripping region that contacts the gripping object 2, and an outer edge portion in the Y direction of the gripping object contact region 26a. Is provided with a high tension portion 26b as a second gripping region. By supporting the second transverse member 13b and the second tip portion 24 to which the gripping film 26 is mounted by the third rod 20 and the fourth rod 21, the gripping membrane 26 is extended in the extension direction F so as to be substantially in the Z direction. The high tension portion 26b extends along the extending direction F. The high tension portion 26b is formed thick with respect to the object contact region 26a, and the tensile stress of the high tension portion 26b is the tensile force of the object contact region 26a with respect to the displacement amount in the extension direction F. It is larger than the stress.

  4A is a partial front view of the gripping device 4 shown in FIG. 2A in the Y direction, and FIG. 4B is a cross-sectional view taken along the line CC ′ shown in FIG. 4A. FIG. 4 and FIG. 2 (a) show the state at the stage when the grasping operation of the object to be grasped 2 is started, that is, the first stage 9b and the second stage 9c are driven in the direction indicated by the arrow H, 26 shows the approached state. As the gripping films 25 and 26 approach, the gripping object 2 is clamped by the gripping object contact areas 25a and 26a of the gripping films 25 and 26, and the gripping object contact areas 25a and 26a are clamped by the gripping object 2 in the X direction. The deformation begins to swell.

  At this time, as shown in FIG. 4A, in the gripping film 25, the gripping object contact region 25a is pressed by the gripping object 2 and starts to deform so as to swell, but the extended portion of the gripping object contact region 25a The high-tensile portion 25b that extends to the object is restrained from being deformed in the bulging direction by a higher tension than the object-contacting area 25a, and causes only a slight deformation relative to the deformation of the object-contacting area 25a. Similarly, in the gripping film 26, the object contact area 26a to be gripped is pressed by the object to be gripped 2 and begins to deform so as to swell, but the high tension portion 25b extending to the outer extension of the object contact area 26a is The deformation in the bulging direction is suppressed by the tension higher than that of the grasped object contact area 25a, and only a slight deformation occurs as compared with the deformation of the grasped object contact area 26a.

Further, as shown in FIG. 4B of the cross-section CC ′ of FIG. 4A, the protruding portion 14c of the first rod 14 is rotated by the swelling of the gripping object contact region 25a of the gripping film 25. and the shaft 14a at the center is moved outwardly r ₁ direction, similarly, the protruding portion 15c of the second rod 15, the bulge of the object to be grasped contact area 25a of the gripping layer 25, around a rotation shaft 15a outside It is moved to the r ₂ direction. Further, the protruding portion 20c of the third bar 20, the bulge of the object to be grasped contact area 26a of the gripping layer 26, is moved outwardly r ₃ direction about the rotation axis 20a, likewise, the fourth bar 21 protrusion 21c is the bulge of the object to be grasped contact area 26a of the gripping layer 26, it is moved outwardly r ₄ direction about the rotation axis 21a.

The first rod 14, the second rod 15, the third rod 20, and the fourth rod 21 are respectively a first biasing portion 16, a second biasing portion 17, a third biasing portion 22, and a fourth biasing portion 23. Therefore, the protrusions 14c, 15c, 20c, and 21c are urged toward the object to be grasped 2 in the direction opposite to the moving directions r ₁ , r ₂ , r ₃ , and r ₄ . As a result, the object to be grasped 2 passes through the object to be grasped areas 25a and 26a of the grasping films 25 and 26, and the reverse directions p ₁ , p ₂ and p of the moving directions r ₁ , r ₂ , r ₃ and r _{4 3} and p ₄ direction, and acts so as to be stably placed in the center of the gripping films 25 and 26.

  Further, in the gripping film 25 and the gripping film 26, the high-tensile portions 25b and 26b are less deformed than the gripping object contact areas 25a and 26a, so that the gripping object contact areas 25a and 26a are shown in FIG. It deform | transforms so that the to-be-gripped object 2 may be wrapped as shown in (b). As a result, the gripping films 25 and 26 also act so that the object to be gripped 2 is stably placed at the center of the gripping films 25 and 26.

  Further, as shown in FIG. 5A, the first stage 9b and the second stage 9c are further driven from the state shown in FIG. The object to be grasped 2 is grasped so as to be transportable to the grasping device 4. That is, the first tip portion 18 and the second tip portion 24 are sufficiently larger than the deformed outer shape even if the outer shape of the object to be grasped 2 is pressed by the grip films 25 and 26 and deformed. The object to be grasped 2 is not caused to fall due to gravity by being opposed to each other at a narrow interval.

Further, as shown in FIG. 5B, which is a cross-sectional view taken along the line CC ′ shown in FIG. 5A, the gripping films 25 and 26 are closer to each other in the gripping object contact areas 25a and 26a of the gripping films 25 and 26. As a result, the bulge is increased by the object to be grasped 2, and the protrusions 14c, 15c, 20c, 21c of the first rod 14, the second rod 15, the third rod 20, and the fourth rod 21 are moved in the moving direction r ₁ , The amount of movement of r ₂ , r ₃ , r ₄ increases. Accordingly, the protrusions 14c, 15c, 20c, and 21c directed toward the object to be grasped 2 by the first biasing portion 16, the second biasing portion 17, the third biasing portion 22, and the fourth biasing portion 23 are attached. The power, that is, the power in the directions of p ₁ , p ₂ , p ₃ and p ₄ increases. Accordingly, the object to be grasped 2 acts more stably at the center of the grasping films 25 and 26, and the object to be grasped 2 can be stably conveyed without dropping from the grasping device 4 during conveyance. it can.

  Moreover, as shown in FIG.5 (b), the high tension | tensile_strength parts 25b and 26b of the holding | grip films 25 and 26 have little deformation | transformation with respect to the to-be-held object contact area | regions 25a and 26a which expand | swell largely, ie, there is little swelling. Accordingly, the gap between the high tension portion 25b of the gripping film 25 with a small deformation amount and the high tension portion 26b of the gripping film 26 can be maintained in a state narrower than the outer shape of the object 2 to be gripped. Even if the object to be grasped 2 is made of a soft and slippery material, the object to be grasped 2 passes through the gap between the high tension portion 25b of the grasping film 25 and the high tension portion 26b of the grasping film 26, and is in the Y direction. Further, it is possible to suppress deviation from the holding area of the object to be grasped 2 between the object to be grasped area 25a and the object to be grasped area 26b.

  As described above, when the object to be grasped 2 is grasped by the grasping films 25 and 26 of the grasping device 4, the object contact areas 25a and 26a are inflated, and the first rod 14, the second rod 15, and the third The protrusions 14 c, 15 c, 20 c, 21 c provided on the rod 20 and the fourth rod 21 are pressed by the grip films 25, 26. The pressed protrusions 14c, 15c, 20c, and 21c are moved around the rotation shafts 14a, 15a, 20a, and 21a of the first rod 14, the second rod 15, the third rod 20, and the fourth rod 21, respectively. However, the first rod 14 is provided by the first urging portion 16, the second rod 15 is provided by the second urging portion 17, the third rod 20 is provided by the third urging portion 22, and the fourth rod 21 is provided by the fourth urging force. The protrusions 14 c, 15 c, 20 c, and 21 c are urged by the portion 23 against the grip films 25 and 26. The urging units 16, 17, 22, and 23 will be described using the first urging unit 16 as a representative example.

  FIG. 6A is a schematic cross-sectional view of a main part showing the first urging portion 16 and the first base portion 12. As shown to Fig.6 (a), the through-hole 12c is installed in the 1st horizontal member 12b, and the 1st stick | rod 14 is inserted in the through-hole 12c. A first bearing 31 as a bearing mechanism and a second bearing 32 as a bearing mechanism are installed in the through hole 12c, and the first bearing 31 and the second bearing 32 support the first rod 14 so as to be rotatable. The first bearing 31 and the second bearing 32 support the first rod 14 at two places. As a result, the first bearing 31 and the second bearing 32 prevent the linear portion 14e of the first rod 14 from being inclined with respect to the rotation shaft 14a, and the first rod 14 can be accurately rotated about the rotation shaft 14a. Can be made.

  The first bearing 31 and the second bearing 32 only need to be able to turn the first rod 14 with a low frictional resistance, and the types of the first bearing 31 and the second bearing 32 are not particularly limited. As the types of the first bearing 31 and the second bearing 32, for example, rolling bearings such as ball bearings and roller bearings, sliding bearings using engineering plastics, bearing alloys, ceramics, and the like can be used. In this embodiment, a ball bearing which is one of ball bearings is used.

  The first rod 14 projects through the first transverse member 12b. A through hole 14 d that penetrates the first rod 14 in the radial direction is formed at the end of the first rod 14. The first urging portion 16 includes a coil spring 16a as a spring, and the end of the coil spring 16a is inserted into the through hole 14d. A recess 12d is formed on the upper surface of the first lateral member 12b, and the end of the coil spring 16a is inserted into the recess 12d. When the first rod 14 rotates about the rotation shaft 14a, a torque is applied to the first rod 14 by the coil spring 16a.

  A cover 16b is installed so as to cover the coil spring 16a. The cover 16b protects the coil spring 16a so that the separated object 2 does not adhere to the coil spring 16a. The structure in which the second rod 15 is installed on the first lateral member 12b is the same as the structure in which the first rod 14 is installed on the first lateral member 12b, and a description thereof will be omitted. Similarly, the structure in which the third rod 20 and the fourth rod 21 are installed on the second transverse member 13b is the same as the structure in which the first rod 14 is installed on the first transverse member 12b, and the description thereof is omitted. . The internal structures of the second urging unit 17, the third urging unit 22, and the fourth urging unit 23 are the same as the internal structure of the first urging unit 16, and the description thereof is omitted.

  FIG. 6B is a schematic cross-sectional view of a main part showing a connection structure between the first rod 14 and the first tip 18. As shown in FIG. 6B, the end of the first rod 14 in the −Z direction is linear along the rotation axis 14a. The end of the first rod 14 is installed at the first tip 18 via the third bearing 33. Therefore, the first rod 14 is rotatable with a low frictional resistance with respect to the first tip portion 18.

  The type of the third bearing 33 is not particularly limited, and a bearing similar to the first bearing 31 can be used. Note that the structure in which the second rod 15 is installed at the first tip 18 is the same as the structure in which the first rod 14 is installed at the first tip 18, and the description thereof is omitted. Similarly, the structure in which the third rod 20 and the fourth rod 21 are installed at the second tip portion 24 is the same as the structure in which the first rod 14 is installed at the first tip portion 18, and the description thereof is omitted. .

  7 and 8 are schematic diagrams for explaining the operation of the first rod 14 to the fourth rod 21. FIG. FIGS. 7A to 8B are views as seen from the line BB ′ in FIG. FIG. 7A shows a state where the gripping device 4 does not hold the object to be gripped 2. FIG. 7B to FIG. 8A show a process until the gripping device 4 holds the object to be gripped 2. FIG. 8B shows a state where the gripping device 4 holds the object to be gripped 2. 8C and 8D are views of the first rod 14 as viewed from the Z direction side of the first transverse member 12b. FIG. 8C shows a state where the gripping device 4 does not hold the object to be gripped 2, and FIG. 8D shows a state where the gripping device 4 holds the object to be gripped 2. 8C and 8D omit the surface of the cover 16b on the Z direction side, and FIGS. 7 and 8 omit the gripping film 25 and the gripping film 26 for the sake of clarity. ing.

  As shown in FIG. 7A, when the gripping device 4 does not hold the substantially spherical object 2 in the present embodiment, the gap between the first tip 18 and the second tip 24 in the X direction. The interval is wider than the outer shape of the object to be grasped 2. Then, the protruding portion 14 c of the first rod 14 and the protruding portion 15 c of the second rod 15 approach each other and protrude in the longitudinal direction of the first tip portion 18. Thereby, the 1st stick | rod 14 and the 2nd stick | rod 15 follow the same or substantially the same virtual plane 19a when it sees from a Z direction, and overlap with the 1st front-end | tip part 18. FIG. The first rod 14 and the second rod 15 do not protrude in the X direction of the first tip 18. Similarly, the protruding portion 20 c of the third rod 20 and the protruding portion 21 c of the fourth rod 21 approach each other and protrude in the longitudinal direction of the second tip portion 24. Thereby, the 3rd bar | burr 20 and the 4th bar | burr 21 overlap the 2nd front-end | tip part 24 following the same or substantially the same virtual plane 19b when it sees from a Z direction. The third rod 20 and the fourth rod 21 do not protrude in the X direction of the second tip portion 24.

  As shown in FIG. 7B, the position changing unit 9 moves the first base 12 and the second base 13 to move the first rod 14, the second rod 15, the third rod 20, and the fourth rod 21. Reduce the spacing. Thereby, in the 1st stick | rod 14, the protrusion part 14c is pressed by the to-be-held object 2 via the holding | grip films 25 and 26 (illustration omitted), and rotates centering on the rotating shaft 14a. Similarly, the second rod 15, the third rod 20, and the fourth rod 21 rotate around the rotation shaft 15a, the rotation shaft 20a, and the rotation shaft 21a, respectively. The first bar 14 and the second bar 15 are separated from the virtual plane 19a, and the third bar 20 and the fourth bar 21 are separated from the virtual plane 19b. Then, when viewed from the Z direction, the first tip portion 18 and the second tip portion 24 move toward the center of the object 2 to be grasped, that is, in a direction to narrow the interval between the first tip portion 18 and the second tip portion 24. .

  As shown in FIGS. 7 (c) and 8 (a), the position changing unit 9 further moves the first base 12 and the second base 13, and the first bar 14, the second bar 15, and the third bar. The interval between the 20 and the fourth rod 21 is narrowed. Thereby, the protrusion part 14c is pressed by the to-be-held object 2, and the 1st stick | rod 14 rotates centering on the rotating shaft 14a. Similarly, the second rod 15, the third rod 20, and the fourth rod 21 rotate around the rotation shaft 15a, the rotation shaft 20a, and the rotation shaft 21a, respectively. Then, when viewed from the Z direction, the first tip portion 18 and the second tip portion 24 move toward the center of the object 2 to be grasped, that is, in a direction to narrow the interval between the first tip portion 18 and the second tip portion 24. .

  As shown in FIG. 8 (b), the position changing unit 9 further moves the first base 12 and the second base 13, and the first rod 14, the second rod 15, the third rod 20, and the fourth rod 21. Reduce the interval. And the protrusion part 14c of the 1st stick | rod 14 and the protrusion part 15c of the 2nd stick | rod 15 are pressed toward the to-be-held object 2, and protrude toward the direction away from the 1st horizontal member 12b. When viewed from the Z direction, the first tip 18 enters the lower side of the object 2 to be grasped, that is, the bottom.

  Similarly, the protruding portion 20c of the third rod 20 and the protruding portion 21c of the fourth rod 21 are pressed by the object to be grasped 2 and protrude in the direction away from the second lateral member 13b. Then, when viewed from the Z direction, the second tip 24 enters the bottom of the object 2 to be grasped. As a result, the distance between the first tip portion 18 and the second tip portion 24 is shorter than the width of the object to be grasped 2, so that the first tip portion 18, the second tip portion 24, the gripping film 25 and the gripping film 26 are used. The object to be grasped 2 can be supported.

  Next, when the gripping device 4 releases the object to be gripped 2, the position changing unit 9 moves the first base 12 and the second base 13 to widen the distance between the first base 12 and the second base 13. At this time, the first rod 14, the second rod 15, and the third rod in the order shown in FIGS. 8B, 8A, 7C, 7B, and 7A. 20 and the fourth rod 21 rotate.

  As a result, as shown in FIG. 7A, the first tip 18 and the second tip 24 are separated from the object to be grasped 2 as viewed from the Z direction. The protruding portion 14 c of the first rod 14 and the protruding portion 15 c of the second rod 15 approach each other and protrude in the longitudinal direction of the first tip portion 18. When viewed from the Z direction, the first rod 14 and the second rod 15 follow the same or substantially the same plane and overlap the first tip portion 18. Similarly, the protruding portion 20 c of the third rod 20 and the protruding portion 21 c of the fourth rod 21 approach each other and protrude in the longitudinal direction of the second tip portion 24. Thereby, the 3rd bar | burr 20 and the 4th bar | burr 21 overlap the 2nd front-end | tip part 24 along the same or substantially the same plane, when it sees from a Z direction. The third rod 20 and the fourth rod 21 do not protrude in the X direction of the second tip portion 24.

  As shown in FIG. 8C, a regulation pin 34 is provided near the coil spring 16a on the surface of the first transverse member 12b on the Z direction side. The first rod 14 is bent at a right angle at a location near the end on the −Z direction side. The first rod 14 is biased by the coil spring 16a so as to rotate clockwise in the figure. When the first rod 14 is not in contact with the object to be grasped 2, the side surface near the end of the first rod 14 is in contact with the regulation pin 34. The restriction pin 34 restricts the first rod 14 from rotating. With this structure, the protruding portion 14 c of the first rod 14 faces the longitudinal direction of the first tip portion 18.

  As shown in FIG. 8D, when the first bar 14 comes into contact with the object to be grasped 2, the first bar 14 is separated from the regulation pin 34. When the object to be grasped 2 moves in the −X direction in the figure, the first rod 14 is pushed by the object to be grasped 2 and rotates counterclockwise. When the object to be grasped 2 moves in the X direction, the first rod 14 is biased by the coil spring 16a and rotates clockwise.

  The second urging unit 17, the third urging unit 22, and the fourth urging unit 23 have the same structure as the first urging unit 16. The second rod 15, the third rod 20, and the fourth rod 21 are restricted from turning in the same manner as the first rod 14. The operation of each urging portion and each rod is the same as that of the first urging portion 16 and the first rod 14, and detailed description thereof is omitted.

  FIG. 9 shows other forms of the high-tensile portions 25b and 26b in the above-described gripping films 25 and 26, and shows the cross-sectional shape of the gripping film in the CC ′ section shown in FIG.

  In the gripping films 125 and 126 shown in FIG. 9A, high-tensile members 125b and 126b are inserted inside outer edges along the Z direction of the object-contacting regions 125a and 126a. As the high-tensile member, for example, a metal wire excellent in corrosion resistance such as stainless steel or titanium, or a wire material of high-strength resin such as nylon, Teflon (registered trademark), or polyurethane is preferably used.

  As described above, it is preferable to use a synthetic rubber such as silicon rubber as the main material of the gripping films 125 and 126. In the molding process of the gripping films 125 and 126, the high tension members 125b and 126b are insert-molded to achieve high tension. Adhesiveness to the members 125b and 126b can be ensured. Further, by selecting the material of the high tension members 125b and 126b or by selecting the thickness (wire diameter) of the wire, the tension to a desired object contact area 125a and 126a is easily adjusted to a desired height. The gripping films 125 and 126 that can be obtained can be obtained.

The gripping films 225 and 226 shown in FIG. 9B have the thickness t2 of the outer edge in the Y direction with respect to the thickness t1 of the substantially central part of the gripping films 225 and 226.
t2> t1
The thickness is gradually increased from t1 to t2. By forming the gripping films 225 and 226 in this way, the tension distribution of the gripping films 225 and 226 can be continuously changed, and a portion where stress is concentrated on the gripping films 225 and 226 cannot be formed. , 226 can be improved.

  FIG. 10 is a diagram for explaining the effect of the high tension portions 25b and 26b formed on the gripping films 25 and 26 provided in the gripping device 4 according to the first embodiment. It is a cross-sectional schematic diagram which shows operation | movement relationship with 26 and the to-be-held object 2. FIG. For convenience of explanation, only the gripping films 25 and 26 and the object to be gripped 2 are shown, and other components are omitted.

  The state shown in FIG. 10A represents immediately after the object 2 is sandwiched and gripped by the gripping films 25 and 26 provided in the gripping device 4. As shown in FIG. 10A, the object to be grasped 2 is deformed so that the object contact areas 25 a and 26 a of the grasping films 25 and 26 swell in accordance with the outer shape of the object to be grasped 2. The object to be grasped 2 is a substantially spherical, flexible and slippery food in this embodiment, for example, food such as konjac, jelly, agar, etc. From the state immediately after grasping shown in FIG. 10 (a), FIG. 10 (b) As shown, the object to be grasped 2 is deformed by the tension of the grasping films 25 and 26 and changes to the shape of the object to be grasped 2a.

  As shown in FIG. 10B, if the object to be grasped 2a is sandwiched and grasped evenly by the object to be grasped contact areas 25a and 26a, the object 2a in the state shown in FIG. It is possible to shift to the transport operation with the deformed shape. However, the object to be grasped 2 is not grasped in the center region of the grasping films 25 and 26. For example, the object to be grasped 2 is sandwiched and grasped in the Y direction shown in FIG. Then, as shown in FIG. 10C, the object to be grasped 2 a (the object to be grasped 2) slides and moves between the grasping films 25 and 26 in the direction indicated by the arrow T.

  And the to-be-held object 2a shows the behavior which passes through the gap | interval of the high tension part 25b of the holding films | membranes 25 and 26, and the high tension part 26b, deform | transforming into the to-be-held object 2b. However, as described above, the high tension portions 25b and 26b are portions having higher tension than the gripping object contact areas 25a and 26a, and the gap between the high tension portion 25b and the high tension portion 26b is widened by the gripping object 2b. With respect to the action, the deformation is suppressed to a small extent, and it is slightly deformed as shown in the figure and maintained at the interval between the high tension portion 25b ′ and the high tension portion 26b ′.

  Further, as shown in FIG. 10 (d), the object to be grasped 2 that is flexible and has a slippery surface tends to move further in the direction of the arrow T while being deformed from the object to be grasped 2b to the object to be grasped 2c. The action of further expanding the gap between the high tension part 25b and the high tension part 26b while being deformed to the object to be grasped 2c is suppressed to a small extent, and as shown in the figure, it is slightly deformed and the high tension part 25b " It is maintained at an interval from the tension portion 26b ″. As a result, the object to be grasped 2 is prevented from moving in the T direction between the high tension portion 25b ″ and the high tension portion 26b ″ in the state of the object to be grasped 2c after being deformed. It is suppressed that the to-be-held object 2 deviates from between.

  As described above, the gripping films 25 and 26 provided in the gripping device 4 according to the present embodiment make it possible to securely clamp and grip the object to be gripped 2 that is flexible and has a slippery surface. This makes it possible to mechanize the process of gripping and transporting the shape of the target food without damaging the shape of the target food, which has heretofore been difficult in food processing processes that frequently use flexible materials. Therefore, it is possible to automate and rationalize food processing processes, thereby reducing costs, eliminating work by human hands, and greatly reducing the entry of bacteria from the outside in terms of hygiene management. it can.

(Second Embodiment)
FIG. 11 is an external view showing a robot as a transfer device. A robot 1000 shown in FIG. 11 includes a main body portion 1100, an arm portion 1200, a robot hand portion 1300, and the like. The main body 1100 is fixed to, for example, a floor, a wall, a ceiling, or a movable carriage. The arm unit 1200 is movably provided with respect to the main body unit 1100. The main body unit 1100 includes an actuator (not shown) that generates power for rotating the arm unit 1200, a control unit that controls the actuator, and the like. ing.

  The arm unit 1200 includes a first frame 1210, a second frame 1220, a third frame 1230, a fourth frame 1240, and a fifth frame 1250. The first frame 1210 is rotatably or bendably connected to the main body 1100 via a rotation / bending axis. The second frame 1220 is connected to the first frame 1210 and the third frame 1230 via a rotation / bending axis. The third frame 1230 is connected to the second frame 1220 and the fourth frame 1240 via a rotation / bending axis. The fourth frame 1240 is connected to the third frame 1230 and the fifth frame 1250 via a rotating and bending shaft. The fifth frame 1250 is connected to the fourth frame 1240 via a rotation / bending axis. The arm part 1200 operates by rotating or bending each frame 1210 to 1250 around each rotational bending axis under the control of the control part.

  A robot hand portion 1300 is attached to the other side of the connection portion with the fourth frame 1240 in the fifth frame 1250 of the arm portion 1200. The robot hand unit 1300 includes the gripping device 4 according to the first embodiment as a robot hand capable of gripping an object, and a robot hand connection unit 1310 including a motor that rotates the gripping device 4. The robot hand connection unit 1310 is connected to the fifth frame 1250.

  Further, since the robot hand connection unit 1310 incorporates a force detection device (not shown) in addition to the motor, when the robot hand unit 1300 is moved to a predetermined operation position under the control of the control unit, it touches the obstacle. Alternatively, contact with an object due to an operation command exceeding a predetermined position can be detected as a force by a force detection device and fed back to the control unit of the robot 1000 to execute an avoidance action.

  By using such a robot 1000, it is possible to use a material that is flexible and has a slippery surface, for example, food or food material without being damaged, and can be conveyed at high speed. Further, the robot 1000 according to the present embodiment, that is, a so-called vertical articulated robot can be installed in a narrow work space and can be introduced even in a narrow work environment. This makes it possible to automate the conveyance at the site.

  The robot 1000 according to the second embodiment is in the form of a vertical articulated robot, but an example in which the gripping device 4 according to the first embodiment is provided in the form of another robot will be described. FIG. 12 is a schematic front view showing a form called a horizontal articulated robot, a so-called scalar robot.

  A robot 2000 shown in FIG. 12 includes a first arm 2100. A second arm 2200 is connected to the first arm 2100. A motor 2110 is installed on the first arm 2100, and an output shaft of the motor 2110 is connected to the second arm 2200. By driving the motor 2110, the second arm 2200 can be horizontally rotated with respect to the first arm 2100. The second arm 2200 is provided with the gripping device 4 according to the first embodiment as a robot hand.

  FIG. 13 is a schematic front view showing the structure of a dual-arm robot. As shown in FIG. 13, the double-arm robot 3000 includes a main body 3100. A pair of arm portions 3200 is installed in connection with the main body portion 3100. Each arm part 3200 is installed in the order of the shoulder joint part 3210, the first link 3220, the elbow joint part 3230, the second link 3240, the wrist joint part 3250, and the gripping device 4 according to the first embodiment as a robot hand. .

  By using the robot 2000 or the robot 3000 as described above, it is possible to use a material that is flexible and has a slippery surface, for example, food or food material without being damaged, and can be conveyed at high speed. Further, even the robot 2000 or the robot 3000 according to the present embodiment can be installed in a narrow work space, and can be introduced even in a narrow work environment. This makes it possible to automate conveyance at a store.

  The present invention is not limited to the above-described embodiment, and various changes and improvements can be made by those who have ordinary knowledge in the technical field within the technical idea of the present invention.

  DESCRIPTION OF SYMBOLS 1 ... Mounting stand, 2 ... Object to be grasped, 3 ... Conveying device, 4 ... Gripping device, 5 ... Arm, 6 ... Elevating mechanism, 7 ... Turning mechanism, 8 ... Elevating rotation axis, 9 ... Position changing part, 10 ... 1st gripping part, 11 ... 2nd gripping part, 12 ... 1st base, 13 ... 2nd base, 14 ... 1st stick | rod, 15 ... 2nd stick | rod, 16 ... 1st biasing part, 17 ... 2nd attachment 18 ... first tip, 20 ... third rod, 21 ... fourth rod, 22 ... third biasing portion, 23 ... fourth biasing portion, 25, 26 ... grip film, 27 ... control portion.

Claims (11)

A first grip portion and a second grip portion,
At least one of the first gripping part and the second gripping part is
A flexible gripping membrane;
A first fixing part to which the gripping film is fixed, and a second fixing part to which the gripping film is fixed at a part different from a part fixed by the first fixing part of the gripping film,
A first support portion and a second support portion that are rotatably fixed to the first fixing portion and the second fixing portion;
The first support part and the second support part are arranged on the back side of the surface of the gripping film that contacts the object to be gripped.
A gripping device characterized by that. The first support part and the second support part are:
A rotating shaft portion rotatably fixed to the first fixing portion and the second fixing portion;
A frame portion extending in a direction intersecting the rotation center of the rotation shaft portion from the rotation shaft portion,
The gripping device according to claim 1. The gripping film is
A first gripping region;
A second gripping region extending along the gripping film stretching direction on an outer edge portion of the first gripping region along the gripping film stretching direction that is stretched through the first fixing part and the second fixing part; Have
The tension in the gripping film stretching direction is larger in the second gripping region than in the first gripping region,
The gripping device according to claim 1 or 2, characterized in that The film thickness of the second grip region is thicker than the film thickness of the first grip region,
The gripping device according to claim 3. In the second gripping region, a tension reinforcing member having a tension higher than the tension in the gripping film extension direction of the first gripping region is joined or included.
The gripping device according to claim 3. A first gripping part and a second gripping part for gripping an object to be gripped by approaching each other,
At least one of the first gripping part and the second gripping part is
A flexible gripping membrane having at least two sides parallel to the outer periphery;
A first fixing part in which one side of the two parallel sides is fixed; a second fixing part in which the other side is fixed;
A first support portion and a second support portion that are rotatably fixed to the first fixing portion and the second fixing portion;
The first support part and the second support part are arranged on the back side of the surface of the gripping film that contacts the object to be gripped, and the gripping film is interposed via the first fixing part and the second fixing part. A gripping device for extending
A conveying apparatus characterized by that. The gripping device is
The first support part and the second support part;
A rotating shaft portion rotatably fixed to the first fixing portion and the second fixing portion;
A frame portion extending in a direction intersecting the rotation center of the rotation shaft portion from the rotation shaft portion,
The conveying apparatus according to claim 6. The gripping film of the gripping device is
A first gripping region;
A second gripping region extending along the gripping film stretching direction on an outer edge portion of the first gripping region along the gripping film stretching direction that is stretched through the first fixing part and the second fixing part; Have
The tension in the gripping film stretching direction is larger in the second gripping region than in the first gripping region,
The conveying apparatus according to claim 6 or 7, wherein Arm,
A gripping device rotatably connected to the arm,
The gripping device includes a first gripping part and a second gripping part that grip the object to be gripped by approaching each other,
At least one of the first gripping part and the second gripping part is
A flexible gripping membrane having at least two sides parallel to the outer periphery;
A first fixing part in which one side of the two parallel sides is fixed; a second fixing part in which the other side is fixed;
A first support portion and a second support portion that are rotatably fixed to the first fixing portion and the second fixing portion;
The first support part and the second support part are arranged on the back side of the surface of the gripping film that contacts the object to be gripped, and the gripping film is interposed via the first fixing part and the second fixing part. Stretch,
A robot characterized by that. The gripping device is
The first support part and the second support part;
A rotating shaft portion rotatably fixed to the first fixing portion and the second fixing portion;
A frame portion extending in a direction intersecting the rotation center of the rotation shaft portion from the rotation shaft portion,
The robot according to claim 9. The gripping film of the gripping device is
A first gripping region;
A second gripping region extending along the gripping film stretching direction on an outer edge portion of the first gripping region along the gripping film stretching direction that is stretched through the first fixing part and the second fixing part; Have
The tension in the gripping film stretching direction is larger in the second gripping region than in the first gripping region,
The robot according to claim 9 or 10, wherein:

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