JP6808857B2 - Gripping device - Google Patents

Gripping device Download PDF

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JP6808857B2
JP6808857B2 JP2019570663A JP2019570663A JP6808857B2 JP 6808857 B2 JP6808857 B2 JP 6808857B2 JP 2019570663 A JP2019570663 A JP 2019570663A JP 2019570663 A JP2019570663 A JP 2019570663A JP 6808857 B2 JP6808857 B2 JP 6808857B2
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work
gripping
cylinder
cylinders
outer cylinder
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JPWO2019155885A1 (en
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英有 蒲池
英有 蒲池
伸大 小佐々
伸大 小佐々
高志 金谷
高志 金谷
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Honda Motor Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members

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  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Description

本発明は、任意の対象物を把持できる把持装置に関する。 The present invention relates to a gripping device capable of gripping an arbitrary object.

近年、製造業における生産ラインにおいては、加工・組み立て・搬送・検品等を含めたあらゆる作業について自動化が進んでいる。生産ラインの自動化は、生産に係る人件費の削減・不良品発生率の低減・作業速度の向上等の面で、多くの製造業種の発展において欠かせない事項となっている。 In recent years, in production lines in the manufacturing industry, automation is progressing for all operations including processing, assembly, transportation, inspection, and the like. Automation of production lines has become an indispensable item in the development of many manufacturing industries in terms of reduction of labor costs related to production, reduction of defective product occurrence rate, improvement of work speed, and the like.

従来、自動車や機械部品等の生産ラインにおいては、組み立て・梱包・搬送等の作業の自動化に、汎用ロボットのアーム先端に取り付けられたハンドで対象物品を把持する把持装置が用いられている。 Conventionally, in production lines for automobiles and mechanical parts, a gripping device for gripping an object with a hand attached to the tip of an arm of a general-purpose robot has been used for automation of operations such as assembly, packing, and transportation.

上記の把持装置を用いて作業する際には、対象物品の形状や大きさが変わるとその都度対応する専用の装置を用意する、あるいはハンドを付け替える必要があり、複数の装置を用意せねばならない。さらに、専用の装置を入れ替える作業には時間もかかり煩雑であるうえ、作業ミスの発生や、稼働率の低下も避けられない問題となっている。 When working with the above gripping device, it is necessary to prepare a dedicated device corresponding to each change in the shape and size of the target article, or to change the hand, and it is necessary to prepare a plurality of devices. .. Further, the work of replacing the dedicated device is time-consuming and complicated, and the occurrence of work mistakes and the decrease in the operating rate are unavoidable problems.

最近では、対象物品に形状自在に適応可能な把持ハンドを備えた把持装置が用いられている。例えば、先端部に粒子状の物質を充填した柔軟な袋部を採用した把持ハンドが提案されている（例えば、特許文献１及び２参照）。この把持ハンドによれば、内部の粒子の流動により対象物品の形状に適応することができるとされている。更に、その状態で吸引機を作動させて収容空間を負圧にすることにより、上記各粒状体を被把持物の外形に沿う型崩れしない一つの塊体にして上記被把持物を把持することができるとされている。 Recently, a gripping device provided with a gripping hand that can be freely adapted to the target article has been used. For example, a gripping hand that employs a flexible bag portion whose tip portion is filled with a particulate substance has been proposed (see, for example, Patent Documents 1 and 2). According to this gripping hand, it is said that the shape of the target article can be adapted by the flow of particles inside. Further, by operating the suction machine in that state to create a negative pressure in the accommodation space, each of the granules is made into one mass that does not lose its shape along the outer shape of the object to be gripped, and the object to be gripped is gripped. Is said to be possible.

特開平９−１２３０８２号公報Japanese Unexamined Patent Publication No. 9-123082 特許第４４６９１１０号公報Japanese Patent No. 4469110

しかしながら、先端部を形状自在に対象物品に適応させる従来の把持ハンドは、その構造上把持力が弱く、ワークが重い場合や、掴み代が少ない形状である場合には、安定して把持できない場合があった。 However, the conventional gripping hand that adapts the tip to the target article in a shape-free manner has a weak gripping force due to its structure, and when the work is heavy or the shape has a small gripping allowance, stable gripping is not possible. was there.

本発明は上記に鑑みてなされたものであり、先端部を形状自在にワークに適応させる把持装置（把持ハンド）の把持力を向上させることで、より重量の重い物品や様々な形状の物品を安定的に把持できる把持装置の提供を目的とする。 The present invention has been made in view of the above, and by improving the gripping force of the gripping device (grasping hand) that adapts the tip portion to the work in a shape-free manner, heavier articles and articles of various shapes can be produced. An object of the present invention is to provide a gripping device capable of stably gripping.

（１）本発明は、ワーク（例えば、後述のワーク６）を把持する把持装置（例えば、後述の把持ハンド１０，２０，３０）であって、複数並んで配置され、前記ワークと接触すると前記ワークの形状に合わせて変形可能な筒体（例えば、後述の筒体１）と、前記複数の筒体を支持する基部（例えば、後述の基部２）と、変形した前記複数の筒体を硬化させる硬化手段（例えば、後述のバキュームライン３、バキューム装置）と、を備え、前記筒体の軸方向の中間位置の少なくとも一部（例えば、後述の接合部４）で、前記複数の筒体同士が互いに接合されている把持装置を提供する。 (1) The present invention is a gripping device (for example, gripping hands 10, 20, 30 described later) for gripping a work (for example, the work 6 described later), which are arranged side by side and when they come into contact with the work, the above-mentioned The tubular body that can be deformed according to the shape of the work (for example, the tubular body 1 described later), the base portion that supports the plurality of tubular bodies (for example, the base portion 2 described later), and the plurality of deformed tubular bodies are cured. The plurality of cylinders are provided with a curing means (for example, a vacuum line 3 described later, a vacuum device) and at least a part of an intermediate position in the axial direction of the cylinder (for example, a joint portion 4 described later). Provide a gripping device in which are joined to each other.

（１）の発明によれば、複数の筒体は、ワークに接触するとワークの形状に合わせて（倣って）変形する。そのため、ワークの細かな凹凸に対応できるなど、ワーク形状への高い適応性（追従性）が得られる。また、筒体がワーク形状倣いとなった状態で、硬化手段により筒体を硬化させることにより、筒体とワークとの間に強い引っ掛かりが生じ、強い把持力を発揮できる。
また、筒体同士のうち、一部が互いに接合されていることにより、ワークに接触する際にワークへの追従性を維持しつつ、筒体を硬化する際には、筒体同士が接合されている部分では被膜が厚く丈夫になるため形状の変化が小さく、接合されず自由に可動な外筒（例えば、後述の外筒１ａ）は中央に配置される中央筒（例えば、後述の中央筒１ｂ）側に引き寄せられる。その結果、中央筒で接触・把持しているワークは引き寄せられた外筒に掴まれるようにして支えられるため、ワークに対する把持力が向上する。According to the invention of (1), when the plurality of cylinders come into contact with the work, they are deformed (following) according to the shape of the work. Therefore, high adaptability (followability) to the shape of the work can be obtained, such as being able to deal with fine irregularities of the work. Further, by curing the tubular body by the curing means while the tubular body follows the shape of the work, a strong catch is generated between the tubular body and the work, and a strong gripping force can be exhibited.
Further, since some of the cylinders are joined to each other, the cylinders are joined to each other when the cylinders are hardened while maintaining the followability to the work when they come into contact with the work. Since the coating is thick and durable, the change in shape is small, and the outer cylinder that is not joined and can move freely (for example, the outer cylinder 1a described later) is the central cylinder (for example, the central cylinder described later) arranged in the center. It is attracted to the 1b) side. As a result, the work that is in contact with and gripped by the central cylinder is supported by being gripped by the attracted outer cylinder, so that the gripping force on the work is improved.

（２） （１）の発明において、前記複数の筒体は、内部に封入された粒状物（例えば、後述の粒状物１２）を有し、前記硬化手段は、前記複数の筒体の内部から気体を排出する吸引装置（例えば、後述のバキューム装置）であることが好ましい。 (2) In the invention of (1), the plurality of cylinders have granules (for example, granules 12 described later) enclosed inside, and the curing means is from the inside of the plurality of cylinders. A suction device that discharges gas (for example, a vacuum device described later) is preferable.

（２）の発明によれば、柔軟な被膜と粒状物からなる筒体は、ワークと接触する際にワークから押される力を受け、ワークの形状に倣って変形し、ワークに形状自在に適応することができる。さらに吸引装置により筒体の内部を減圧することで、筒体は形状を維持したまま硬化できるため、安定的にワークを把持することができる。 According to the invention of (2), the tubular body composed of a flexible coating film and granules receives a force pushed by the work when it comes into contact with the work, deforms according to the shape of the work, and adapts freely to the work. can do. Further, by reducing the pressure inside the cylinder by the suction device, the cylinder can be cured while maintaining its shape, so that the work can be gripped stably.

（３） （１）または（２）の発明において、前記複数の筒体のうち、外側に配置される外筒（例えば、後述の外筒１ａ）には、中央に配置される中央筒（例えば、後述の中央筒１ｂ）よりも多く粒状物が封入されていることが好ましい。 (3) In the invention of (1) or (2), among the plurality of cylinders, the outer cylinder arranged on the outside (for example, the outer cylinder 1a described later) has a central cylinder (for example, an outer cylinder 1a) arranged in the center. , It is preferable that more granules are enclosed than in the central cylinder 1b) described later.

（３）の発明によれば、減圧時には中央筒のほうが大きく収縮するため、外筒は中央筒に強く引き寄せられ、ワークを挟み込むように内向きに大きな力を加えることができ、さらに把持力が向上する。 According to the invention of (3), since the central cylinder contracts more greatly when the pressure is reduced, the outer cylinder is strongly attracted to the central cylinder, and a large force can be applied inward so as to sandwich the work, and the gripping force is further increased. improves.

（４） （１）〜（３）のいずれかの発明において、前記複数の筒体のうち、外側に配置される外筒の前記基部からの長さが、中央に配置される中央筒の前記基部からの長さよりも長いことが好ましい。 (4) In any one of the inventions (1) to (3), the length of the outer cylinder arranged on the outside from the base of the plurality of cylinders is the length of the central cylinder arranged in the center. It is preferably longer than the length from the base.

（４）の発明によれば、減圧時に外筒が中央筒側に引き込まれる際、長い外筒の先端部には大きな支え代があるため、ワークの把持に寄与する支持力が向上する結果、さらに把持力が向上する。 According to the invention of (4), when the outer cylinder is pulled toward the central cylinder side during decompression, the tip of the long outer cylinder has a large support margin, and as a result, the bearing capacity that contributes to gripping the work is improved. Further, the gripping force is improved.

（５） （１）〜（４）のいずれかの発明において、前記ワークを把持する前に前記筒体の内部を加圧する加圧装置（例えば、後述の加圧装置）を有することが好ましい。 (5) In any of the inventions (1) to (4), it is preferable to have a pressurizing device (for example, a pressurizing device described later) that pressurizes the inside of the cylinder before gripping the work.

（５）の発明によれば、膨らんだ被膜が広い掴み幅により大きな接触面積でワークを把持できるため、素材の収縮にかかる弾性力による摩擦が大きくなり、さらに把持力が向上する。 According to the invention of (5), since the swollen coating film can grip the work with a large contact area due to the wide gripping width, the friction due to the elastic force applied to the shrinkage of the material is increased, and the gripping force is further improved.

（６） （１）〜（５）のいずれかの発明において、前記複数の筒体のうち、外側に配置される外筒は伸縮性を有し、前記外筒の外側部位（例えば、後述の外側部位５）の伸縮性が内側部位の伸縮性よりも低いことが好ましい。 (6) In any of the inventions (1) to (5), among the plurality of cylinders, the outer cylinder arranged on the outside has elasticity, and the outer portion of the outer cylinder (for example, described later). It is preferable that the elasticity of the outer portion 5) is lower than the elasticity of the inner portion.

（６）の発明によれば、把持部とワークが接触した状態で筒体を減圧すると、外筒はその内側部が収縮し、中央部側に引き込まれる。外筒の外側部の強度が高いことにより、中央部で接触・把持しているワークは引き寄せられた外筒に支えられ、結果として把持力はさらに向上する。 According to the invention of (6), when the pressure of the cylinder is reduced while the grip portion and the work are in contact with each other, the inner portion of the outer cylinder contracts and is pulled toward the central portion side. Due to the high strength of the outer portion of the outer cylinder, the work being contacted and gripped at the central portion is supported by the attracted outer cylinder, and as a result, the gripping force is further improved.

本発明によれば、先端部を形状自在にワークに適応させる把持装置（把持ハンド）の把持力を向上させることで、より重量の重い物品や様々な形状の物品を把持できる把持装置を提供する。 According to the present invention, there is provided a gripping device capable of gripping a heavier article or an article having various shapes by improving the gripping force of the gripping device (grasping hand) that adapts the tip portion to the work in a shape-free manner. ..

本発明の一実施形態に係る把持ハンドを備える把持ロボットを示す図である。ただし、把持ハンドは簡略図にて示してある。It is a figure which shows the gripping robot provided with the gripping hand which concerns on one Embodiment of this invention. However, the gripping hand is shown in a simplified diagram. 上記実施形態に係る把持ハンドの構成を示す斜視図である。ただし、基部は簡略図にて示し、傾動装置の記載は省略している。It is a perspective view which shows the structure of the gripping hand which concerns on the said embodiment. However, the base is shown in a simplified diagram, and the description of the tilting device is omitted. 上記実施形態に係る把持ハンドの構成を示す正面断面図である。It is a front sectional view which shows the structure of the gripping hand which concerns on the said embodiment. 上記実施形態に係る把持ハンドの構成を示す側面図である。ただし、バキュームラインの記載は省略している。It is a side view which shows the structure of the gripping hand which concerns on the said embodiment. However, the description of the vacuum line is omitted. 上記実施形態に係る把持ハンドにおける、減圧による把持作用を示す図である。It is a figure which shows the gripping action by decompression in the gripping hand which concerns on the said embodiment. 多様な形状のワークの把持を示す図である。It is a figure which shows the gripping of the workpiece of various shapes. 上記実施形態の変形例１に係る把持ハンドの構成を示す図である。It is a figure which shows the structure of the gripping hand which concerns on the modification 1 of the said embodiment. 上記実施形態の変形例１に係る把持ハンドにおける、把持作用を示す図である。It is a figure which shows the gripping action in the gripping hand which concerns on the modification 1 of the said embodiment. 上記実施形態の変形例２に係る把持ハンドの構成（加圧時）を示す図である。It is a figure which shows the structure (during pressurization) of the gripping hand which concerns on the modification 2 of the said embodiment. 上記実施形態の変形例２に係る把持ハンドの把持作用（減圧時）を示す図である。It is a figure which shows the gripping action (at the time of decompression) of the gripping hand which concerns on the modification 2 of the said embodiment.

以下に、本発明の一実施形態について説明するが、本発明はこれに限定されるものではない。 An embodiment of the present invention will be described below, but the present invention is not limited thereto.

図１は、本発明の一実施形態に係る把持ハンド１０を備える把持ロボット１００を示す図である。図２は、上記実施形態に係る把持ハンド１０の構成を示す斜視図である。図３は、上記実施形態に係る把持ハンド１０の構成を示す正面図である。図４は、上記実施形態に係る把持ハンド１０の構成を示す側面図である。
本実施形態に係る把持ハンド１０は、ワーク６を把持する把持装置であって、工場における生産・加工ラインなどで使用される。FIG. 1 is a diagram showing a gripping robot 100 including a gripping hand 10 according to an embodiment of the present invention. FIG. 2 is a perspective view showing the configuration of the gripping hand 10 according to the above embodiment. FIG. 3 is a front view showing the configuration of the gripping hand 10 according to the above embodiment. FIG. 4 is a side view showing the configuration of the gripping hand 10 according to the above embodiment.
The gripping hand 10 according to the present embodiment is a gripping device for gripping the work 6, and is used in a production / processing line in a factory or the like.

図１に示すように、本実施形態に係る把持ロボット１００は、可動式アーム１０１と、該可動式アーム１０１の先端に取り付けられ、本発明の把持装置に相当する把持ハンド１０と、を備える。この把持ロボット１００は、可動式アームにより把持ハンド１０を把持対象のワーク６に接近・接触させた後、把持ハンド１０によりワーク６を把持する。 As shown in FIG. 1, the gripping robot 100 according to the present embodiment includes a movable arm 101 and a gripping hand 10 attached to the tip of the movable arm 101 and corresponding to the gripping device of the present invention. The gripping robot 100 approaches and contacts the gripping hand 10 with the work 6 to be gripped by the movable arm, and then grips the work 6 with the gripping hand 10.

図３に示す把持ハンド１０は、複数の筒体１と、筒体１を支持する基部２と、バキュームライン３を有するバキューム装置（不図示）と、から構成される。把持ハンド１０は、ボルト１０３により、ブラケット１０２を介して可動式アーム１０１の先端に取り付けられる。 The gripping hand 10 shown in FIG. 3 is composed of a plurality of cylinders 1, a base 2 that supports the cylinders 1, and a vacuum device (not shown) having a vacuum line 3. The gripping hand 10 is attached to the tip of the movable arm 101 by a bolt 103 via the bracket 102.

複数の筒体１は、それぞれが気密性かつ可撓性を備えた柔軟な被膜（袋）１１と、それに内包される粒状物１２から構成される。
被膜１１としては、ゴムあるいは布、ポリウレタンなどが用いられる。粒状物１２としては、砂、塩、砂糖、ペレット（微細樹脂）、豆、ビーズ、米、パチンコ玉などが用いられる。The plurality of cylinders 1 are composed of a flexible coating (bag) 11 each having airtightness and flexibility, and granules 12 contained therein.
As the coating film 11, rubber, cloth, polyurethane, or the like is used. As the granular material 12, sand, salt, sugar, pellets (fine resin), beans, beads, rice, pachinko balls and the like are used.

筒体１は、例えば円筒状であり、複数並んで配置される。筒体１の配列については、特に限定されない。例えば、図１及び３に示すように正面から見て筒体１を横方向に５つ並べ、図４に示すように側面から見て筒体１を２列に並べてもよい。このように筒体１を複数並べて配置することで、把持力が向上し、より安定してワーク６を把持できるようになっている。 The tubular body 1 has, for example, a cylindrical shape, and a plurality of cylinders 1 are arranged side by side. The arrangement of the cylinder 1 is not particularly limited. For example, as shown in FIGS. 1 and 3, five cylinders 1 may be arranged in the horizontal direction when viewed from the front, and the cylinders 1 may be arranged in two rows when viewed from the side as shown in FIG. By arranging a plurality of the tubular bodies 1 side by side in this way, the gripping force is improved and the work 6 can be gripped more stably.

複数の筒体１は、外側に配置される複数の外筒１ａと、該外筒１ａに挟まれる形で中央に配置される複数の中央筒１ｂと、から構成される。
本実施形態に係る筒体１は、図１〜４に示すように、例えば４つの外筒１ａと、６つの中央筒１ｂと、から構成される。The plurality of cylinders 1 are composed of a plurality of outer cylinders 1a arranged on the outside and a plurality of central cylinders 1b arranged in the center so as to be sandwiched between the outer cylinders 1a.
As shown in FIGS. 1 to 4, the tubular body 1 according to the present embodiment is composed of, for example, four outer cylinders 1a and six central cylinders 1b.

筒体１は、軸方向の中間位置の少なくとも一部で複数の筒体同士が互いに接合された接合部４を有する。接合部は、少なくとも中間位置の一部で接合されていればよく、例えば基部付近が接合されていない場合も含む。一方、外筒１ａの外側部位のみが、接合されず自由に可動な状態である。なお、接合の方法については特に限定されず、例えば、縫合、接着材による接着、溶着などで接合される。 The tubular body 1 has a joint portion 4 in which a plurality of tubular bodies are joined to each other at at least a part of an intermediate position in the axial direction. The joint portion may be joined at least at a part of the intermediate position, and includes, for example, the case where the vicinity of the base portion is not joined. On the other hand, only the outer portion of the outer cylinder 1a is not joined and is in a freely movable state. The joining method is not particularly limited, and for example, joining is performed by suturing, bonding with an adhesive, welding, or the like.

複数の筒体１は、いずれも、基部２内に設けられたバキュームライン３を介してバキューム装置（不図示）に接続されている。これにより、筒体１内を減圧することで筒体１を変形不能に硬化させることが可能となっている。バキューム装置は、フローメータとバキューム制御部（いずれも不図示）を備え、フローメータにより検知される流量に基づいてバキューム制御部によりその駆動が制御される。 Each of the plurality of cylinders 1 is connected to a vacuum device (not shown) via a vacuum line 3 provided in the base 2. As a result, the inside of the cylinder 1 can be depressurized so that the cylinder 1 can be hardened without being deformed. The vacuum device includes a flow meter and a vacuum control unit (both not shown), and the drive thereof is controlled by the vacuum control unit based on the flow rate detected by the flow meter.

筒体１と基部２との接続部については、フィルターやメッシュ等を用いて粒状物１２が通過不能な寸法の開口部を設け、バキューム装置を通じた吸排気により、空気のみが出入り可能なように設定される。バキューム装置を通じて空気のみを吸排気することで筒体は伸縮し、軟硬化する。これにより、ワーク６を把持する前に、筒体１の内部を加圧でき、把持可能な状態とすることが可能となっている。 For the connection between the cylinder 1 and the base 2, an opening having a size that does not allow the granular material 12 to pass through is provided by using a filter, a mesh, or the like so that only air can enter and exit by intake and exhaust through the vacuum device. Set. By sucking and exhausting only air through the vacuum device, the cylinder expands and contracts and softens. As a result, the inside of the tubular body 1 can be pressurized before the work 6 is gripped, so that the work 6 can be gripped.

把持ハンド１０によりワーク６を把持する際、筒体１はワーク６から押される力を受け、被膜１１は変形し、粒状物１２は袋の内部で流動することで、ワーク６の形状に倣う形へと変形する。これにより、把持ハンド１０はワーク６に形状自在に適応することができる。ワーク６に適応した形状となった筒体１は、被膜内部を減圧することで、形状を維持したまま硬化させることができる。 When the work 6 is gripped by the gripping hand 10, the tubular body 1 receives a force pushed by the work 6, the coating film 11 is deformed, and the granules 12 flow inside the bag, thereby following the shape of the work 6. Transforms into. As a result, the gripping hand 10 can be freely shaped and adapted to the work 6. The tubular body 1 having a shape adapted to the work 6 can be cured while maintaining its shape by reducing the pressure inside the coating film.

また筒体１を減圧する際、筒体同士が接合されている接合部４では被膜が厚く丈夫になるため形状の変化が小さくなり、接合されず自由に可動な外筒１ａの外側部位５が中央筒１ｂに引き寄せられる。その結果、中央筒１ｂで接触・把持しているワーク６は引き寄せられた外筒１ａに掴まれるようにして支えられるため、ワーク６に対する把持力が向上する。 Further, when the pressure of the cylinder 1 is reduced, the change in shape is small at the joint portion 4 where the cylinders are joined to each other because the coating is thick and strong, and the outer portion 5 of the outer cylinder 1a which is not joined and is freely movable is formed. It is attracted to the central cylinder 1b. As a result, the work 6 that is in contact with and gripped by the central cylinder 1b is supported so as to be gripped by the attracted outer cylinder 1a, so that the gripping force on the work 6 is improved.

把持ハンド１０において、外筒１ａに中央筒１ｂよりも多く粒状物が封入されていると、さらに把持力が向上する。中央筒１ｂの内部には大きな空間が存在するため、減圧時には、中央筒１ｂのほうが大きく収縮する。この時、筒体同士が接合されているために、外筒１ａは中央筒１ｂに強く引き寄せられ、ワーク６を挟み込むように内向きに力を加えるためである。 In the gripping hand 10, when the outer cylinder 1a is filled with more granular material than the central cylinder 1b, the gripping force is further improved. Since there is a large space inside the central cylinder 1b, the central cylinder 1b contracts more when the pressure is reduced. At this time, since the cylinders are joined to each other, the outer cylinder 1a is strongly attracted to the central cylinder 1b, and an inward force is applied so as to sandwich the work 6.

把持ハンド１０において、外筒１ａの基部２からの長さが中央筒１ｂの基部２からの長さよりも長くなっていると、さらに把持力が向上する。上述の作用により減圧時に外筒１ａが中央部に引き込まれる際、長い外筒１ａの先端部には大きな支え代があるため、ワーク６の把持に寄与する支持力が向上するためである。 In the gripping hand 10, when the length of the outer cylinder 1a from the base 2 is longer than the length of the central cylinder 1b from the base 2, the gripping force is further improved. This is because when the outer cylinder 1a is pulled into the central portion during depressurization by the above-mentioned action, the tip portion of the long outer cylinder 1a has a large support margin, so that the bearing capacity that contributes to gripping the work 6 is improved.

なお、本実施形態に係る把持ハンド１０は、加圧装置（不図示）を備えている。これにより、加圧した状態でワーク６と接触したのち減圧すると、さらに把持力が向上する。加圧により筒体１の被膜１１が膨らみ、掴み幅を広く取った状態でワーク６に接触し、筒体１とワーク６が接触した状態で筒体を減圧すると、広い掴み幅により大きな接触面積をもつために、素材の収縮にかかる弾性力による摩擦が大きくなるためである。 The gripping hand 10 according to this embodiment includes a pressurizing device (not shown). As a result, when the pressure is reduced after contacting the work 6 in a pressurized state, the gripping force is further improved. When the coating 11 of the tubular body 1 swells due to pressurization and comes into contact with the work 6 with a wide grip width, and when the tubular body is depressurized with the tubular body 1 and the work 6 in contact with each other, a large contact area is obtained due to the wide grip width. This is because the friction due to the elastic force applied to the shrinkage of the material becomes large.

把持ハンド１０において、外筒１ａの外側部位５の伸縮性が、内側部位の伸縮性よりも低い構造となっていると、さらに把持力が向上する。筒体１とワーク６が接触した状態で筒体１を減圧すると、外筒１ａはその内側部位が収縮し、中央筒１ｂ側に引き込まれる。外筒１ａの外側部位５の強度が高いことにより、中央筒１ｂで接触・把持しているワーク６は引き寄せられた外筒１ａに支えられ、結果として把持力はさらに向上する。 In the gripping hand 10, if the elasticity of the outer portion 5 of the outer cylinder 1a is lower than the elasticity of the inner portion, the gripping force is further improved. When the pressure of the cylinder 1 is reduced while the cylinder 1 and the work 6 are in contact with each other, the inner portion of the outer cylinder 1a contracts and is pulled toward the central cylinder 1b. Due to the high strength of the outer portion 5 of the outer cylinder 1a, the work 6 being contacted and gripped by the central cylinder 1b is supported by the attracted outer cylinder 1a, and as a result, the gripping force is further improved.

以下に、本実施形態に係る把持ハンド１０の作用機構について、図５及び６を参照しながら詳細に説明する。
ここで、図５は、本実施形態に係る把持ハンド１０における、減圧による把持作用を示す図である。図６は、本実施形態に係る把持ハンド１０における、細長い形状のワーク６の把持を示す図である。The operating mechanism of the gripping hand 10 according to the present embodiment will be described in detail below with reference to FIGS. 5 and 6.
Here, FIG. 5 is a diagram showing a gripping action due to decompression in the gripping hand 10 according to the present embodiment. FIG. 6 is a diagram showing gripping of an elongated work 6 in the gripping hand 10 according to the present embodiment.

把持ハンド１０をワーク６に押し付けるように、筒体１と接触させる。この時筒体１はワーク６から押される力を受けて、被膜１１の内部を粒状物１２が流動することで、ワーク６の形状に倣うように変形する。 The gripping hand 10 is brought into contact with the tubular body 1 so as to be pressed against the work 6. At this time, the tubular body 1 receives a force pushed by the work 6 and the granules 12 flow inside the coating film 11 to deform the tubular body 1 so as to follow the shape of the work 6.

この状態で、バキュームライン３から筒体１の内部を減圧することで、筒体１をワーク６に適応した形状のまま硬化させることができる。このとき、硬化した筒体１とワーク６との接触部で引っ掛かりが生じ、鉛直方向に持ち上げる際に、ワーク６にかかる重力に抗って摩擦が生じ、ワーク６を把持することができる。 In this state, by depressurizing the inside of the cylinder 1 from the vacuum line 3, the cylinder 1 can be cured in a shape adapted to the work 6. At this time, the contact portion between the cured cylinder 1 and the work 6 is caught, and when the work 6 is lifted in the vertical direction, friction is generated against the gravity applied to the work 6, and the work 6 can be gripped.

さらに筒体１を減圧する際、筒体同士が接合されている接合部４では形状の変化が小さく、接合されず自由に可動な外筒１ａの外側部が中央筒１ｂに引っ張られて大きく移動する。その結果、中央筒１ｂで接触・把持しているワーク６は引き寄せられた外筒１ａに掴まれるようにして支えられるため、ワーク６に対する把持力が向上する（図５参照）。 Further, when the cylinder body 1 is depressurized, the shape change is small at the joint portion 4 where the cylinder bodies are joined to each other, and the outer portion of the outer cylinder 1a which is not joined and is freely movable is pulled by the central cylinder 1b and moves greatly. To do. As a result, the work 6 that is in contact with and gripped by the central cylinder 1b is supported so as to be gripped by the attracted outer cylinder 1a, so that the gripping force with respect to the work 6 is improved (see FIG. 5).

前記の作用は、ワーク６が小さい場合や、縦長の形状をしている場合にも有効である。筒体同士が互いに接合されていることで、直接ワーク６と接触しない外筒１ａも減圧により中央筒１ｂ側へと引き寄せられるため、挟み込むように内向きに力が加わり、外筒１ａを含めたすべての筒体がワーク６の把持に寄与することができる（図６参照）。 The above action is also effective when the work 6 is small or has a vertically long shape. Since the cylinders are joined to each other, the outer cylinder 1a that does not come into direct contact with the work 6 is also attracted to the central cylinder 1b side by decompression, so an inward force is applied so as to sandwich the outer cylinder 1a. All cylinders can contribute to gripping the work 6 (see FIG. 6).

本実施形態によれば、以下の効果が奏される。
（１）本実施形態によれば、複数の筒体１は、ワーク６に接触するとワーク６の形状に合わせて（倣って）変形する。そのため、ワーク６の細かな凹凸に対応できるなど、ワーク６の形状への高い適応性（追従性）が得られる。また、筒体１がワーク６形状倣いとなった状態で、硬化手段としてのバキューム装置により筒体１を硬化させることにより、筒体１とワーク６との間に強い引っ掛かりが生じ、強い把持力を発揮できる。
（２）本実施形態によれば、筒体を硬化する際、筒体同士が接合されている接合部４では被膜が厚く丈夫になるため形状の変化が小さく、接合されず自由に可動な外筒１ａの外側部位５は中央筒１ｂ側に引き寄せられる。その結果、中央筒１ｂで接触・把持しているワーク６は引き寄せられた外筒１ａに掴まれるようにして支えられるため、ワーク６に対する把持力が向上する。According to this embodiment, the following effects are achieved.
(1) According to the present embodiment, when the plurality of tubular bodies 1 come into contact with the work 6, they are deformed (following) according to the shape of the work 6. Therefore, high adaptability (followability) to the shape of the work 6 can be obtained, such as being able to deal with fine irregularities of the work 6. Further, by curing the cylinder 1 with a vacuum device as a curing means in a state where the cylinder 1 follows the shape of the work 6, a strong catch is generated between the cylinder 1 and the work 6, and a strong gripping force is generated. Can be demonstrated.
(2) According to the present embodiment, when the cylinders are hardened, the joint portion 4 to which the cylinders are joined has a thick and durable coating, so that the shape change is small and the cylinders are not joined and can move freely. The outer portion 5 of the cylinder 1a is attracted to the central cylinder 1b side. As a result, the work 6 that is in contact with and gripped by the central cylinder 1b is supported so as to be gripped by the attracted outer cylinder 1a, so that the gripping force with respect to the work 6 is improved.

図７は、本実施形態の変形例１に係る把持ハンド２０の構成を示す図である。図８は、本実施形態の変形例１に係る把持ハンド２０における、外筒１ａに中央筒１ｂよりも粒状物が多く封入されていることによる、把持力の向上を示す図である。
図７に示す把持ハンド２０は、把持ハンド１０の筒体１の複数の筒体のうち、外筒１ａの基部からの長さが中央筒１ｂの基部からの長さよりも長くなっており、外筒１ａに中央筒１ｂよりも粒状物が多く封入されている以外は、把持ハンド１０と同一の構成・作用機構を有する。FIG. 7 is a diagram showing the configuration of the gripping hand 20 according to the first modification of the present embodiment. FIG. 8 is a diagram showing an improvement in gripping force by enclosing a larger amount of granular material in the outer cylinder 1a than in the central cylinder 1b in the gripping hand 20 according to the first modification of the present embodiment.
In the gripping hand 20 shown in FIG. 7, the length from the base of the outer cylinder 1a is longer than the length from the base of the central cylinder 1b among the plurality of cylinders of the cylinder 1 of the gripping hand 10, and the outside It has the same configuration and action mechanism as the gripping hand 10 except that the cylinder 1a contains more granules than the central cylinder 1b.

把持ハンド２０において、外筒１ａの基部２からの長さが中央筒１ｂの基部２からの長さよりも長くなっており、減圧時に外筒１ａが中央筒１ｂ側に引き込まれる際、ワーク６のより下部を支えることができ、より安定してワーク６を把持することが可能となっている。 In the gripping hand 20, the length of the outer cylinder 1a from the base 2 is longer than the length of the central cylinder 1b from the base 2, and when the outer cylinder 1a is pulled toward the central cylinder 1b during decompression, the work 6 The lower part can be supported, and the work 6 can be gripped more stably.

また把持ハンド２０において、中央筒１ｂの内部には外筒１ａの内部よりも大きな空間があるため、減圧時には中央筒１ｂのほうが大きく収縮する。この時、筒体同士が接合されているために、外筒１ａは中央筒１ｂに強く引き寄せられ、ワーク６を挟み込むように内向きに力を加えるため、把持力が向上する（図８参照）。 Further, in the gripping hand 20, since there is a larger space inside the central cylinder 1b than inside the outer cylinder 1a, the central cylinder 1b contracts more greatly when the pressure is reduced. At this time, since the cylinders are joined to each other, the outer cylinder 1a is strongly attracted to the central cylinder 1b, and an inward force is applied so as to sandwich the work 6, so that the gripping force is improved (see FIG. 8). ..

図９は、本実施形態の変形例２に係る把持ハンド３０の構成を示す図である。図１０は、本実施形態の変形例２に係る把持ハンド３０における、外筒１ａの外側部位のみが伸縮しにくい構造を有していることによる、把持力の向上を示す図である。
図９に示す把持ハンド３０は、把持ハンド３０の筒体１の筒体のうち、前記複数の筒体の内、外筒１ａの基部からの長さが中央筒１ｂの基部からの長さよりも長くなっており、さらに、外筒１ａの外側部の表面のみが伸縮しにくい構造となっている以外は、把持ハンド１０と同一の構成・作用機構を有する。FIG. 9 is a diagram showing the configuration of the gripping hand 30 according to the second modification of the present embodiment. FIG. 10 is a diagram showing an improvement in gripping force by having a structure in which only the outer portion of the outer cylinder 1a of the gripping hand 30 according to the second modification of the present embodiment is difficult to expand and contract.
In the gripping hand 30 shown in FIG. 9, among the plurality of cylinders of the cylinder 1 of the gripping hand 30, the length from the base of the outer cylinder 1a is larger than the length from the base of the central cylinder 1b. It has the same configuration and action mechanism as the gripping hand 10 except that it is long and only the outer surface of the outer cylinder 1a is hard to expand and contract.

把持ハンド３０において、加圧時に外筒１ａは伸縮性を有する部分において膨らむため、外筒１ａの内側部位が大きく広がり、掴み幅を広く取った状態でワーク６に接触する。その後、筒体１とワーク６が接触した状態で筒体を減圧すると、外筒１ａは中央筒１ｂに引かれると同時にその内側部位が収縮する。筒体１の広い掴み幅により筒体１とワーク６は大きな接触面積をもつため、素材の収縮にかかる弾性力による摩擦が大きくなる効果と、外筒１ａの外側部位５の強度が高いため、中央筒１ｂで接触・把持しているワーク６は引き寄せられた外筒１ａに支えられる効果により、把持力はさらに向上する（図１０）。 In the gripping hand 30, since the outer cylinder 1a swells in the elastic portion when pressurized, the inner portion of the outer cylinder 1a is greatly expanded and comes into contact with the work 6 in a state where the gripping width is wide. After that, when the pressure is reduced while the cylinder 1 and the work 6 are in contact with each other, the outer cylinder 1a is pulled by the central cylinder 1b and at the same time the inner portion thereof contracts. Since the cylinder 1 and the work 6 have a large contact area due to the wide grip width of the cylinder 1, the effect of increasing the friction due to the elastic force applied to the shrinkage of the material and the strength of the outer portion 5 of the outer cylinder 1a are high. The gripping force of the work 6 that is in contact with and gripped by the central cylinder 1b is further improved by the effect of being supported by the attracted outer cylinder 1a (FIG. 10).

１ …筒体
１ａ …外筒
１ｂ …中央筒
１１ …被膜
１２ …粒状物
２ …基部
３ …バキュームライン（硬化手段）
４ …接合部
５ …外側部位
６ …ワーク
１０，２０，３０…把持ハンド（把持装置）
１００…把持ロボット
１０１…可動式アーム1 ... Cylinder 1a ... Outer cylinder 1b ... Central cylinder 11 ... Coating 12 ... Granules 2 ... Base 3 ... Vacuum line (curing means)
4 ... Joint 5 ... Outer part 6 ... Work 10, 20, 30 ... Gripping hand (grip device)
100 ... Gripping robot 101 ... Movable arm

Claims (6)

ワークを把持する把持装置であって、
複数並んで配置され、前記ワークと接触すると前記ワークの形状に合わせて変形可能な筒体と、
前記複数の筒体を支持する基部と、
変形した前記複数の筒体を硬化させる硬化手段と、を備え、
前記筒体の軸方向の中間位置の少なくとも一部で、前記複数の筒体同士が互いに接合されている把持装置。A gripping device that grips a work
A cylinder that is arranged side by side and can be deformed according to the shape of the work when it comes into contact with the work.
A base that supports the plurality of cylinders and
A curing means for curing the plurality of deformed cylinders is provided.
A gripping device in which a plurality of cylinders are joined to each other at at least a part of an intermediate position in the axial direction of the cylinder. 前記複数の筒体は、内部に封入された粒状物を有し、
前記硬化手段は、前記複数の筒体の内部から気体を排出する吸引装置である、請求項１に記載の把持装置。The plurality of cylinders have granules enclosed inside, and the plurality of cylinders have particles.
The gripping device according to claim 1, wherein the curing means is a suction device that discharges gas from the inside of the plurality of cylinders. 前記複数の筒体のうち、外側に配置される外筒には、中央に配置される中央筒よりも多く粒状物が封入されている、請求項１または２に記載の把持装置。 The gripping device according to claim 1 or 2, wherein the outer cylinder arranged on the outer side of the plurality of cylinders contains more particles than the central cylinder arranged in the center. 前記複数の筒体のうち、外側に配置される外筒の前記基部からの長さが、中央に配置される中央筒の前記基部からの長さよりも長い、請求項１〜３のいずれかに記載の把持装置。 Among the plurality of cylinders, any one of claims 1 to 3, wherein the length of the outer cylinder arranged on the outside from the base is longer than the length of the central cylinder arranged in the center from the base. The gripping device of the description. 前記ワークを把持する前に前記筒体の内部を加圧する加圧装置を有する、請求項１〜４のいずれかに記載の把持装置。 The gripping device according to any one of claims 1 to 4, further comprising a pressurizing device that pressurizes the inside of the tubular body before gripping the work. 前記複数の筒体のうち、外側に配置される外筒は伸縮性を有し、
前記外筒の外側部位の伸縮性が内側部位の伸縮性よりも低い、請求項１〜５のいずれかに記載の把持装置。Of the plurality of cylinders, the outer cylinder arranged on the outside has elasticity and has elasticity.
The gripping device according to any one of claims 1 to 5, wherein the elasticity of the outer portion of the outer cylinder is lower than the elasticity of the inner portion.
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