JP7099463B2

JP7099463B2 - Gripping device and transporting device

Info

Publication number: JP7099463B2
Application number: JP2019537909A
Authority: JP
Inventors: 清文井上; 国士櫻田; 豪種田; 和希多喜
Original assignee: Nidec Corp
Current assignee: Nidec America Corp
Priority date: 2017-08-23
Filing date: 2018-04-09
Publication date: 2022-07-12
Anticipated expiration: 2038-04-09
Also published as: WO2019038982A1; JPWO2019038982A1; CN111032293A

Description

本発明は、把持装置、及び搬送装置に関する。 The present invention relates to a gripping device and a transporting device.

従来、物体を把持可能な把持装置を備える搬送装置が知られている。たとえば、日本国公開公報特開２００７－９２９６７号公報は、工作機械等の先端部に取り付けられるチャック装置を開示している。該チャック装置では、一組のＬ字状のチャックの一端部がそれぞれピストンに装着されたピストンピンに係合され、チャックの折曲した中央部がそれぞれリンクピンに軸支されている。ピストンの軸線方向に沿った変位作用により、チャックがリンクピンを支点として回動する。この際、リンクピンに軸支された部位から下方に向かって延在しているチャックの他端部がそれぞれ、ピストンの変位作用下にて回動し、互いに接近・離間する。一組のチャックは、他端部が互いに接近する際にはワークを把持し、他端部が互いに離間する際にはワークの把持を解除する。 Conventionally, a transfer device including a gripping device capable of gripping an object is known. For example, Japanese Patent Application Laid-Open No. 2007-92967 discloses a chuck device attached to the tip of a machine tool or the like. In the chuck device, one end of a set of L-shaped chucks is engaged with a piston pin mounted on a piston, and the bent central portion of the chuck is pivotally supported by a link pin. The chuck rotates around the link pin as a fulcrum due to the displacement action along the axial direction of the piston. At this time, the other ends of the chuck extending downward from the portion pivotally supported by the link pin rotate under the displacement action of the piston, and approach and separate from each other. A set of chucks grips the work when the other ends approach each other and releases the grip when the other ends separate from each other.

日本国公開公報：特開２００７－９２９６７号公報Japanese Publication: Japanese Patent Application Laid-Open No. 2007-92967

しかしながら、特許文献１のように一組のチャックの回動によりワークの把持及びその解除を行う機構では、たとえばワークの形状によってワークの把持状態が不安定になってしまう。 However, in the mechanism of gripping and releasing the work by rotating a set of chucks as in Patent Document 1, for example, the gripping state of the work becomes unstable depending on the shape of the work.

本発明は、把持部材間での把持をより安定に行うことができる把持装置、及び搬送装置を提供することを目的とする。 An object of the present invention is to provide a gripping device and a transporting device capable of more stably gripping between gripping members.

本発明の例示的な把持装置は、互いに対向する一対の把持部材と、一対の前記把持部を支持し、且つ、一対の前記把持部材の対向方向に少なくとも一方の前記把持部材を移動可能に支持する支持部材と、前記対向方向に沿って一対の前記把持部材が互いに近づく方向に前記少なくとも一方の前記把持部材を移動させるための移動部と、前記対向方向と垂直な回転軸を中心にして回転可能であり、且つ、前記対向方向に沿って一対の前記把持部材が互いに離れる方向に前記少なくとも一方の前記把持部材を移動させるためのカムと、前記カムを回転駆動するモータと、を備え、前記カムの前記対向方向における側面は、前記少なくとも一方の前記把持部材に接し、一対の前記把持部材間の間隔が、前記カムの回転に応じて変化する構成とされる。 The exemplary gripping device of the present invention supports a pair of gripping members facing each other and the pair of gripping portions, and supports at least one of the gripping members in a direction facing the pair of gripping members so as to be movable. Support member to be supported, a moving portion for moving at least one of the gripping members in a direction in which the pair of gripping members approach each other along the facing direction, and rotation about a rotation axis perpendicular to the facing direction. It is possible to provide a cam for moving the at least one grip member in a direction in which the pair of grip members are separated from each other along the facing direction, and a motor for rotationally driving the cam. The side surface of the cam in the facing direction is in contact with the at least one grip member, and the distance between the pair of grip members changes according to the rotation of the cam.

本発明の例示的な搬送装置は、一対の把持部材間に物体を把持可能な上記の把持装置と、前記把持装置とともに前記物体を移動させるアーム部と、前記アーム部を支持する基部と、を備える構成とされる。 An exemplary transport device of the present invention includes the above-mentioned gripping device capable of gripping an object between a pair of gripping members, an arm portion for moving the object together with the gripping device, and a base portion for supporting the arm portion. It is configured to be prepared.

本発明の例示的な把持装置、及び搬送装置によれば、把持部材間での把持をより安定に行うことができる。 According to the exemplary gripping device and transporting device of the present invention, gripping between gripping members can be performed more stably.

図１は、搬送装置の一例を示す斜視図である。FIG. 1 is a perspective view showing an example of a transport device. 図２は、第１実施形態に係る把持装置の一例を示す斜視図である。FIG. 2 is a perspective view showing an example of the gripping device according to the first embodiment. 図３は、第１実施形態に係る把持装置の断面図である。FIG. 3 is a cross-sectional view of the gripping device according to the first embodiment. 図４Ａは、軸方向からみたカムの形状の一例を示す図である。FIG. 4A is a diagram showing an example of the shape of the cam when viewed from the axial direction. 図４Ｂは、軸方向からみたカムの形状の他の一例を示す図である。FIG. 4B is a diagram showing another example of the shape of the cam when viewed from the axial direction. 図５は、第２実施形態に係る把持装置の一例を示す斜視図である。FIG. 5 is a perspective view showing an example of the gripping device according to the second embodiment. 図６は、第２実施形態に係る把持装置の断面図である。FIG. 6 is a cross-sectional view of the gripping device according to the second embodiment. 図７は、第２実施形態に係る突起部及び溝部の構成例を示す斜視図である。FIG. 7 is a perspective view showing a configuration example of the protrusion and the groove according to the second embodiment. 図８は、第２実施形態の第１変形例に係る把持装置の断面図である。FIG. 8 is a cross-sectional view of the gripping device according to the first modification of the second embodiment. 図９Ａは、カムの時計回りの回転によって、突起部が溝部の回転方向における両端部間に位置する場合での第２実施形態における把持装置を軸方向前側からみた図である。FIG. 9A is a view of the gripping device according to the second embodiment as viewed from the front side in the axial direction when the protrusion is located between both ends in the rotation direction of the groove due to the clockwise rotation of the cam. 図９Ｂは、カムの時計回りの回転によって、突起部が溝部の逆時計回りの回転方向における端部に位置する場合での第２実施形態に係る把持装置を軸方向前側からみた図である。FIG. 9B is a view of the gripping device according to the second embodiment when the protrusion is located at the end of the groove in the counterclockwise rotation direction due to the clockwise rotation of the cam, as viewed from the front side in the axial direction. 図１０Ａは、第２実施形態の第２変形例に係る把持装置の断面図である。FIG. 10A is a cross-sectional view of the gripping device according to the second modification of the second embodiment. 図１０Ｂは、第２実施形態の第３変形例に係る把持装置の断面図である。FIG. 10B is a cross-sectional view of the gripping device according to the third modification of the second embodiment.

以下に図面を参照して本発明の例示的な実施形態を説明する。 An exemplary embodiment of the present invention will be described below with reference to the drawings.

なお、本明細書では、搬送装置４００の把持装置１００において、後述する回転軸ＲＡと平行な方向ＡＤを「軸方向ＡＤ」と呼ぶ。軸方向ＡＤにおいて、後述するモータ５から後述するカム４に向かう方向を軸方向ＡＤの一方側として「軸方向前側」と呼び、カム４からモータ５に向かう方向を軸方向ＡＤの他方側として「軸方向後側」と呼ぶ。各々の構成要素において、軸方向前側における端部を「前端部」と呼び、軸方向後側における端部を「後端部」と呼ぶ。また、各々の構成要素において、軸方向前側を向く面を「前面」と呼び、軸方向後側を向く面を「背面」と呼ぶ。 In the present specification, in the gripping device 100 of the transport device 400, the direction AD parallel to the rotation axis RA described later is referred to as "axial direction AD". In the axial AD, the direction from the motor 5 described later to the cam 4 described later is referred to as "axial front side" as one side of the axial AD, and the direction from the cam 4 to the motor 5 is referred to as the other side of the axial AD. Called "rear side in the axial direction". In each component, the end on the front side in the axial direction is referred to as the "front end", and the end on the rear side in the axial direction is referred to as the "rear end". Further, in each component, the surface facing the front side in the axial direction is referred to as "front surface", and the surface facing the rear side in the axial direction is referred to as "rear surface".

把持装置１００において、後述する一対の把持部材１が互いに対向し合う方向ＯＤを「対向方向ＯＤ」と呼ぶ。言い換えると、対向方向ＯＤは、一対の把持部材１のうちの一方と他方とを通る直線と平行な方向ＯＤであり、たとえば後述する図２及び図５では左側の把持部材１と右側の把持部材１とを通る直線と平行な方向ＯＤである。また、対向方向ＯＤに沿って一対の把持部材１が互いに近づく方向を「接近方向」と呼び、対向方向ＯＤに沿って一対の把持部材１が互いに離れる方向を「離間方向」と呼ぶ。たとえば、図２及び図５の左側の把持部材１及びその構成要素において、近接方向は左側の把持部材１から右側の把持部材１に向かう方向であり、離間方向は右側の把持部材１から左側の把持部材１に向かう方向である。また、図２及び図５の右側の把持部材１及びその構成要素において、近接方向は右側の把持部材１から左側の把持部材１に向かう方向であり、離間方向は左側の把持部材１から右側の把持部材１に向かう方向である。対向方向ＯＤは、接近方向と離間方向とを含んでいる。さらに、接近方向と離間方向とは、対向方向ＯＤに沿い且つ互いに逆向きである。各々の構成要素において、接近方向を向く側面を「内側面」と呼び
離間方向を向く側面を「外側面」と呼ぶ。In the gripping device 100, the direction OD in which the pair of gripping members 1 described later face each other is referred to as "opposing direction OD". In other words, the facing direction OD is a direction OD parallel to the straight line passing through one and the other of the pair of gripping members 1, and for example, in FIGS. 2 and 5 described later, the left gripping member 1 and the right gripping member 1 are used. It is a direction OD parallel to the straight line passing through 1. Further, the direction in which the pair of gripping members 1 approach each other along the facing direction OD is referred to as an "approaching direction", and the direction in which the pair of gripping members 1 separate from each other along the facing direction OD is referred to as a "separation direction". For example, in the left grip member 1 and its components in FIGS. 2 and 5, the proximity direction is the direction from the left grip member 1 toward the right grip member 1, and the separation direction is the left side from the right grip member 1. This is the direction toward the grip member 1. Further, in the gripping member 1 on the right side and its components in FIGS. 2 and 5, the proximity direction is the direction from the gripping member 1 on the right side toward the gripping member 1 on the left side, and the separation direction is from the gripping member 1 on the left side to the right side. This is the direction toward the grip member 1. The facing direction OD includes an approaching direction and a separating direction. Further, the approaching direction and the separating direction are along the opposite direction OD and opposite to each other. In each component, the side surface facing the approach direction is referred to as an "inner surface", and the side surface facing the separation direction is referred to as an "outer surface".

把持装置１００において、回転軸ＲＡを中心とする周方向ＲＤを「回転方向ＲＤ」と呼ぶ。回転方向ＲＤにおいて、軸方向前側から把持装置１００をみた場合の右回りを「時計回り」と呼び、該右回りの回転方向を「時計回りの回転方向ＣＷ－ＲＤ」と呼ぶ。回転方向ＲＤにおいて、軸方向前側から把持装置１００をみた場合の左回りを「逆時計回り」と呼び、該左回りの回転方向を「逆時計回りの回転方向ＣＣ－ＲＤ」と呼ぶ。 In the gripping device 100, the circumferential direction RD centered on the rotation axis RA is referred to as "rotation direction RD". In the rotation direction RD, the clockwise direction when the gripping device 100 is viewed from the front side in the axial direction is referred to as "clockwise", and the clockwise rotation direction is referred to as "clockwise rotation direction CW-RD". In the rotation direction RD, the counterclockwise rotation when the gripping device 100 is viewed from the front side in the axial direction is referred to as "counterclockwise rotation", and the counterclockwise rotation direction is referred to as "counterclockwise rotation direction CC-RD".

なお、以上に説明した方向、端部、及び面などの呼称は、実際の機器に組み込まれた場合での位置関係及び方向などを示すものではない。 It should be noted that the names such as the direction, the end portion, and the surface described above do not indicate the positional relationship and the direction when they are incorporated in an actual device.

＜１．第１実施形態＞
＜１－１．第１実施形態に係る搬送装置の構成＞
図１は、搬送装置４００の一例を示す斜視図である。搬送装置４００は、図１に示すように、把持装置１００と、アーム部２００と、基部３００と、を備える。把持装置１００は、一対の把持部材１間に物体（不図示）を把持可能である。アーム部２００は、把持装置１００を移動可能に保持し、たとえば把持装置１００とともに物体を鉛直方向、鉛直方向を中心とする径方向及び周方向に移動させることができる。基部３００は、図示しない台座、又は地面などに固定されており、アーム部２００を動作可能に支持する。<1. First Embodiment>
<1-1. Configuration of the transport device according to the first embodiment>
FIG. 1 is a perspective view showing an example of the transport device 400. As shown in FIG. 1, the transport device 400 includes a gripping device 100, an arm portion 200, and a base portion 300. The gripping device 100 can grip an object (not shown) between the pair of gripping members 1. The arm portion 200 holds the gripping device 100 movably, and can, for example, move an object together with the gripping device 100 in the vertical direction, the radial direction centered on the vertical direction, and the circumferential direction. The base portion 300 is fixed to a pedestal (not shown), the ground, or the like, and operably supports the arm portion 200.

＜１－２．第１実施形態に係る把持装置の構成＞
次に、第１実施形態に係る把持装置１００の構成を説明する。図２は、第１実施形態に係る把持装置１００の一例を示す斜視図である。図３は、第１実施形態に係る把持装置１００の断面図である。なお、図２では、構成を理解し易くするため、後述する支持部材２、移動部３、及び筐体６などの一部の構成要素を透過させて図示している。また、図３は、回転軸ＲＡを含み且つ対向方向ＯＤと垂直な平面による把持装置１００の断面構造を示している。<1-2. Configuration of gripping device according to the first embodiment>
Next, the configuration of the gripping device 100 according to the first embodiment will be described. FIG. 2 is a perspective view showing an example of the gripping device 100 according to the first embodiment. FIG. 3 is a cross-sectional view of the gripping device 100 according to the first embodiment. In addition, in FIG. 2, in order to make the configuration easy to understand, some components such as the support member 2, the moving portion 3, and the housing 6 which will be described later are transparently shown. Further, FIG. 3 shows a cross-sectional structure of the gripping device 100 including the rotation axis RA and having a plane perpendicular to the facing direction OD.

把持装置１００は、一対の把持部材１と、支持部材２と、移動部３と、カム４と、モータ５と、筐体６と、を備えている。 The gripping device 100 includes a pair of gripping members 1, a support member 2, a moving portion 3, a cam 4, a motor 5, and a housing 6.

一対の把持部材１は、対向方向ＯＤにおいて互いに対向している。一対の把持部材１の材料は、特に限定しないが、好ましくは、支持部材２およびカム４などのような該把持部材１と接触する部材の材料よりも軟らかい材料である。より好ましくは、一対の把持部材１は、樹脂製である。このようにすれば、一対の把持部材１を安価に製造することができる。さらに、一対の把持部材１により把持される物体の損傷を抑制することもできる。把持部材１の構成は、後に説明する。 The pair of gripping members 1 face each other in the facing direction OD. The material of the pair of gripping members 1 is not particularly limited, but is preferably a softer material than the material of the members that come into contact with the gripping member 1, such as the support member 2 and the cam 4. More preferably, the pair of gripping members 1 are made of resin. By doing so, the pair of gripping members 1 can be manufactured at low cost. Further, it is possible to suppress damage to the object gripped by the pair of gripping members 1. The configuration of the grip member 1 will be described later.

支持部材２は、筐体６に固定され、一対の把持部材１を支持している。支持部材２の数は、この例示に限定されず、単数であってもよいが、好ましくは複数である。本実施形態では、対向方向ＯＤに延びる２個の棒状部材が、支持部材２として用いられている。 The support member 2 is fixed to the housing 6 and supports the pair of gripping members 1. The number of the support members 2 is not limited to this example, and may be a single number, but is preferably a plurality. In this embodiment, two rod-shaped members extending in the opposite direction OD are used as the support member 2.

２本の支持部材２は、回転軸ＲＡ及び対向方向ＯＤと垂直な方向に並んでいる。各々の支持部材２の両端は、筐体６に固定されている。また、支持部材２は、少なくとも一方の把持部材１を対向方向ＯＤに移動可能に支持している。なお、支持部材２は、本実施形態では、一対の把持部材１それぞれを、対向方向ＯＤに移動可能に支持している。但し、この例示に限定されず、支持部材２は、一対の把持部材１のうちの一方を、対向方向ＯＤに移動可能に支持していてもよい。この場合、一対の把持部材１のうちの他方は、たとえば、支持部材２に固定されていてもよいし、筐体６に固定されていてもよい。 The two support members 2 are arranged in a direction perpendicular to the rotation axis RA and the facing direction OD. Both ends of each support member 2 are fixed to the housing 6. Further, the support member 2 movably supports at least one grip member 1 in the facing direction OD. In the present embodiment, the support member 2 supports each of the pair of gripping members 1 so as to be movable in the facing direction OD. However, the present invention is not limited to this example, and the support member 2 may support one of the pair of gripping members 1 so as to be movable in the facing direction OD. In this case, the other of the pair of gripping members 1 may be fixed to, for example, the support member 2 or the housing 6.

移動部３は、少なくとも一方の把持部材１を接近方向に移動させるための部材である。なお、移動部３は、本実施形態では一対の把持部材１それぞれを接近方向に移動させるための部材となっている。但し、この例示に限定されず、移動部３は、一対の把持部材１のうちの一方を、接近方向に移動させるための部材であってもよい。また、本実施形態では、コイル発条が、移動部３として用いられており、対向方向ＯＤにおいて把持部材１の外側面と筐体６の内側面との間に設けられている。より具体的には、移動部３の離間方向における端部は、筐体６の対向方向ＯＤにおいて後述する窪み部６ｂ内に収容され、該窪み部６ｂの対向方向ＯＤにおける内面に接している。移動部３の接近方向における端部は、把持部材１の外側面に接しており、該外側面を接近方向に押している。 The moving portion 3 is a member for moving at least one gripping member 1 in the approaching direction. In the present embodiment, the moving portion 3 is a member for moving each of the pair of gripping members 1 in the approaching direction. However, the present invention is not limited to this example, and the moving portion 3 may be a member for moving one of the pair of gripping members 1 in the approaching direction. Further, in the present embodiment, the coil streaks are used as the moving portion 3 and are provided between the outer surface of the gripping member 1 and the inner surface of the housing 6 in the facing direction OD. More specifically, the end portion of the moving portion 3 in the separating direction is housed in the recessed portion 6b described later in the facing direction OD of the housing 6, and is in contact with the inner surface of the recessed portion 6b in the facing direction OD. The end portion of the moving portion 3 in the approaching direction is in contact with the outer surface of the gripping member 1 and pushes the outer surface in the approaching direction.

このように、移動部３は、複雑な支持構造を採用することなく、筐体６によって覆われた簡易的な支持構造を採用している。より具体的には、筐体６は、前筐体６０ａと、後筐体６０ｂと、で構成されている。後筐体６０ｂは、前筐体６０ａの軸方向後側に取り付けられている。後筐体６０ｂは、一対の把持部材１よりも軸方向後側に位置する板状部材と、該板状部材の離間方向における両端部から軸方向前側に突出する突壁と、を有している。各々の突壁の接近方向における内側面には、窪み部６ｂが設けられている。このように、前筐体６０ａと後筐体６０ｂとで構成される筐体６では、該筐体が単一の部材で構成される場合と比較すると、窪み部６ｂを内側面に設ける加工がし易い。これにより、前筐体６０ａを後筐体６０ｂから取り外すだけで、移動部３を把持装置１００から容易に取り外すことができる。このように、移動部３を比較的容易に取り外すことができるため、一対の把持部材１を支持している支持部材２の筐体６に対する固定状態も比較的容易に解除できる。すなわち、一対の把持部材１を筐体６から比較的容易に取り外すことができるので、把持装置１００のメンテナンスを容易にすることができる。なお、移動部３は、窪み部６ｂ内に収容されるとともに、窪み部６ｂの内周面に設けたねじ溝に嵌まるねじを用いて、簡易的に支持しても良い。これにより、前筐体６０ａを取り外した際に、移動部３が意図せず飛散することを抑制できる。よって、把持装置１００のメンテナンスを更に容易に行うことができる。 As described above, the moving portion 3 adopts a simple support structure covered by the housing 6 without adopting a complicated support structure. More specifically, the housing 6 is composed of a front housing 60a and a rear housing 60b. The rear housing 60b is attached to the rear side in the axial direction of the front housing 60a. The rear housing 60b has a plate-shaped member located on the rear side in the axial direction with respect to the pair of gripping members 1, and a protruding wall protruding axially forward from both ends in the separation direction of the plate-shaped member. There is. A recess 6b is provided on the inner surface of each protrusion in the approaching direction. As described above, in the housing 6 composed of the front housing 60a and the rear housing 60b, the processing of providing the recessed portion 6b on the inner side surface is performed as compared with the case where the housing is composed of a single member. Easy to do. As a result, the moving portion 3 can be easily removed from the gripping device 100 simply by removing the front housing 60a from the rear housing 60b. In this way, since the moving portion 3 can be removed relatively easily, the fixed state of the support member 2 supporting the pair of gripping members 1 with respect to the housing 6 can be released relatively easily. That is, since the pair of gripping members 1 can be relatively easily removed from the housing 6, maintenance of the gripping device 100 can be facilitated. The moving portion 3 may be accommodated in the recessed portion 6b and may be simply supported by using a screw that fits into a screw groove provided on the inner peripheral surface of the recessed portion 6b. As a result, when the front housing 60a is removed, it is possible to prevent the moving portion 3 from being unintentionally scattered. Therefore, the maintenance of the gripping device 100 can be performed more easily.

カム４は、対向方向ＯＤと垂直な回転軸ＲＡを中心にして回転可能である。カム４の対向方向ＯＤにおける側面は、少なくとも一方の把持部材１に接しており、より具体的には、少なくとも一方の把持部材１の内側面に接している。なお、カム４の対向方向ＯＤにおける側面は、本実施形態では一対の把持部材１それぞれの内側面に接しているが、この例示に限定されず、一対の把持部材１のうちの一方の内側面に接していてもよい。以下では、把持部材１の内側面において、回転するカム４が該内側面に接触可能な領域を接触部１ａと呼ぶ。カム４は、回転に応じて接触部１ａを離間方向に押すことにより、少なくとも一方の把持部材１を離間方向に移動させるための部材である。なお、カム４は、本実施形態では一対の把持部材１それぞれを離間方向に押すが、この例示に限定されず、一対の把持部材１のうちの一方を離間方向に押してもよい。カム４の構成は後に説明する。 The cam 4 can rotate about the rotation axis RA perpendicular to the facing direction OD. The side surface of the cam 4 in the facing direction OD is in contact with at least one gripping member 1, and more specifically, is in contact with the inner side surface of at least one gripping member 1. In the present embodiment, the side surface of the cam 4 in the facing direction OD is in contact with the inner side surface of each of the pair of gripping members 1, but the present invention is not limited to this example, and the inner side surface of one of the pair of gripping members 1 is not limited. You may be in contact with. Hereinafter, on the inner surface of the gripping member 1, the region where the rotating cam 4 can come into contact with the inner surface is referred to as a contact portion 1a. The cam 4 is a member for moving at least one gripping member 1 in the separating direction by pushing the contact portion 1a in the separating direction in response to rotation. In the present embodiment, the cam 4 pushes each of the pair of gripping members 1 in the separating direction, but the present invention is not limited to this example, and one of the pair of gripping members 1 may be pushed in the separating direction. The configuration of the cam 4 will be described later.

モータ５は、カム４を回転駆動する。モータ５は、シャフト５ａと、カム取付部材５ｂと、を有している。シャフト５ａは、回転軸ＲＡを中心にして回転方向ＲＤに回転可能である。カム取付部材５ｂは、カム４をシャフト５ａに取り付けるための部材である。なお、カム４がシャフト５ａに取り付けられる構成は、後にカム４の構成とともに説明する。 The motor 5 rotationally drives the cam 4. The motor 5 has a shaft 5a and a cam mounting member 5b. The shaft 5a can rotate about the rotation axis RA in the rotation direction RD. The cam mounting member 5b is a member for mounting the cam 4 to the shaft 5a. The configuration in which the cam 4 is attached to the shaft 5a will be described later together with the configuration of the cam 4.

筐体６は、各々の把持部材１の一部、支持部材２、移動部３、及びカム４を内部に収容する。筐体６は、本実施形態では、モータ５及びアーム部２００に連結されている。筐体６は、筐体開口６ａと、窪み部６ｂと、背面開口６ｃと、を有している。筐体開口６は、筐体６の軸方向ＡＤ及び対向方向ＯＤの両方と垂直な方向の一方側を向く面に設けられ、該垂直な方向において筐体６を貫通している。筐体開口６を介して、各々の把持部材１の後述するチャック部１１を含む一部が、筐体６の外部に突出している。窪み部６ｂは、筐体６の対向方向ＯＤ両側における内側面に設けられ、離間方向に凹んでいる。背面開口６ｃは、筐体６の背面に設けられ、筐体６を軸方向ＡＤに貫通している。 The housing 6 internally accommodates a part of each gripping member 1, a support member 2, a moving portion 3, and a cam 4. In this embodiment, the housing 6 is connected to the motor 5 and the arm portion 200. The housing 6 has a housing opening 6a, a recessed portion 6b, and a back opening 6c. The housing opening 6 is provided on a surface facing one side in a direction perpendicular to both the axial direction AD and the facing direction OD of the housing 6, and penetrates the housing 6 in the vertical direction. A part of each gripping member 1 including a chuck portion 11 described later protrudes to the outside of the housing 6 through the housing opening 6. The recessed portions 6b are provided on the inner side surfaces of the housing 6 on both sides of the facing direction OD, and are recessed in the separating direction. The back opening 6c is provided on the back surface of the housing 6 and penetrates the housing 6 in the axial direction AD.

＜１－２－１．把持部材の構成＞
次に、図２及び図３を参照して、把持部材１の構成を説明する。<1-2-1. Structure of grip member>
Next, the configuration of the gripping member 1 will be described with reference to FIGS. 2 and 3.

一対の把持部材１はそれぞれ、チャック部１１を有する。チャック部１１は、対向する他の把持部材１との間に物体（不図示）を把持可能な部位である。本実施形態では、各々の把持部材１は、支持部材２により支持される部位から回転軸ＲＡ及び対向方向ＯＤと垂直な方向に延びている。チャック部１１は、把持部材１の該垂直な方向の先端に設けられている。このようにすれば、一対の把持部材１は、回転軸ＲＡと垂直な方向に位置する先端で物体を把持できる。 Each of the pair of gripping members 1 has a chuck portion 11. The chuck portion 11 is a portion capable of gripping an object (not shown) between the chuck portion 11 and another gripping member 1 facing the chuck portion 11. In the present embodiment, each gripping member 1 extends from a portion supported by the support member 2 in a direction perpendicular to the rotation axis RA and the facing direction OD. The chuck portion 11 is provided at the tip of the gripping member 1 in the vertical direction. In this way, the pair of gripping members 1 can grip the object at the tip located in the direction perpendicular to the rotation axis RA.

一対の把持部材１はそれぞれ、第１チャック部１１ａと、第２チャック部１１ｂと、を有する。なお、本実施形態では、チャック部１１が、第１チャック部１１ａと、第２チャック部１１ｂと、を含む。第１チャック部１１ａ及び第２チャック部１１ｂは、回転軸ＲＡと平行な軸方向ＡＤに並んでいる。こうすれば、一対の把持部材１は、第１チャック部１１ａ及び第２チャック部１１ｂそれぞれを物体に当てた状態で物体をさらに安定に把持できる。なお、第１チャック部１１ａ及び第２チャック部１１ｂは、本実施形態の例示に限定されず、回転軸ＲＡと交差する方向に並んでいてもよく、特に、回転軸ＲＡと垂直な方向に並んでいてもよい。また、第１チャック部１１ａ及び第２チャック部１１ｂの内側面はそれぞれ、本実施形態では平面であるが、この例示に限定されず、接近方向に向かって突出する曲面であってもよいし、離間方向に凹む曲面であってもよい。或いは、該内側面は、一対の把持部材１が把持する物体の滑落を抑制又は防止するために、対向方向ＯＤにおいて複数の凹凸を有していてもよい。また、把持する物体の形状に合わせて、一対の把持装置１を選択できるように、形状の異なる複数の第１チャック部１１ａ及び第２チャック部１１ｂを用意しておくことが好ましい。また、第１チャック部１１ａ及び第２チャック部１１ｂそれぞれの内側面には、一対の把持部材１の把持による物体の変形を抑制又は防止するために、ゴム板などの弾性部材が設けられていてもよい。 The pair of gripping members 1 each have a first chuck portion 11a and a second chuck portion 11b. In this embodiment, the chuck portion 11 includes a first chuck portion 11a and a second chuck portion 11b. The first chuck portion 11a and the second chuck portion 11b are arranged in an axial direction AD parallel to the rotation axis RA. In this way, the pair of gripping members 1 can grip the object more stably with the first chuck portion 11a and the second chuck portion 11b in contact with the object. The first chuck portion 11a and the second chuck portion 11b are not limited to the examples of the present embodiment, and may be arranged in a direction intersecting the rotation axis RA, and in particular, are arranged in a direction perpendicular to the rotation axis RA. You may go out. Further, the inner side surfaces of the first chuck portion 11a and the second chuck portion 11b are each flat in the present embodiment, but the present invention is not limited to this example, and may be a curved surface protruding in the approaching direction. It may be a curved surface that is recessed in the separation direction. Alternatively, the inner surface surface may have a plurality of irregularities in the facing direction OD in order to suppress or prevent the sliding of the object gripped by the pair of gripping members 1. Further, it is preferable to prepare a plurality of first chuck portions 11a and second chuck portions 11b having different shapes so that the pair of gripping devices 1 can be selected according to the shape of the object to be gripped. Further, an elastic member such as a rubber plate is provided on the inner surface of each of the first chuck portion 11a and the second chuck portion 11b in order to suppress or prevent deformation of the object due to gripping of the pair of gripping members 1. May be good.

また、少なくとも一方の把持部材１は、貫通孔１２をさらに有している。本実施形態では、一対の把持部材１それぞれが、貫通孔１２を有している。なお、この例示に限定されず、一対の把持部材１のうちの一方が貫通孔１２を有していてもよい。 Further, at least one grip member 1 further has a through hole 12. In the present embodiment, each of the pair of gripping members 1 has a through hole 12. Not limited to this example, one of the pair of gripping members 1 may have a through hole 12.

貫通孔１２は、対向方向ＯＤにおいて把持部材１を貫通している。貫通孔１２には、支持部材２が通されている。また、把持部材１は、貫通孔１２内の支持部材２に沿って摺り動くことができる。このように、貫通孔１２は、摺動可能に支持部材２により移動可能に支持される部位となっている。 The through hole 12 penetrates the grip member 1 in the facing direction OD. The support member 2 is passed through the through hole 12. Further, the grip member 1 can slide along the support member 2 in the through hole 12. As described above, the through hole 12 is a portion that is slidably supported by the support member 2.

各々の把持部材１は単一の部材でなくてもよいが、少なくとも一方の把持部材１は単一の部材であることが好ましい。より具体的には、少なくとも一方の把持部材１は、前述の接触部１ａと、対向する他の把持部材１との間に物体を把持可能な部位であるチャック部１１と、支持部材２により移動可能に支持される部位である貫通孔１２が設けられる部分と、を含む単一の部材であることが好ましい。なお、本実施形態では各々の把持部材が上記のような単一の部材となっているが、この例示に限定されず、一対の把持部材１のうちの一方が上記のような単一の部材となっていてもよい。このようにすれば、把持装置１００の部品点数を低減できるので、把持装置１００の製造工程及び組み立て工程を簡略化でき、製造コストを軽減できる。 Each grip member 1 does not have to be a single member, but at least one grip member 1 is preferably a single member. More specifically, at least one gripping member 1 is moved by the chuck portion 11 which is a portion capable of gripping an object between the above-mentioned contact portion 1a and the other gripping member 1 facing each other, and the support member 2. It is preferably a single member including a portion provided with a through hole 12, which is a portion that can be supported. In the present embodiment, each gripping member is a single member as described above, but the present invention is not limited to this example, and one of the pair of gripping members 1 is a single member as described above. It may be. By doing so, since the number of parts of the gripping device 100 can be reduced, the manufacturing process and the assembling process of the gripping device 100 can be simplified, and the manufacturing cost can be reduced.

一対の把持部材１間の間隔は、カム４の回転に応じて変化する。より具体的には、カム４の回転に応じて少なくとも一方の把持部材１が離間方向又は接近方向に移動することによって、一対の把持部材１間の間隔が変化する。たとえば、カム４が把持部材１を離間方向に押す力が、移動部３が把持部材１を接近方向に押す力よりも大きくなると、把持部材１が離間方向に移動することにより、一対の把持部材１間の間隔が広くなる。一方、カム４が把持部材１を離間方向に押す力が、移動部３が把持部材１を接近方向に押す力よりも小さくなると、把持部材１が接近方向に移動することにより、一対の把持部材１間の間隔が狭くなる。そのため、物体を挟んで対向する一対の把持部材１が上述のように対向方向ＯＤに移動することによって、把持装置１００は、物体の把持動作及び把持の解除動作を行うことができる。従って、把持装置１００は、たとえば一対の把持部材１の先端を回転移動させることによって物体を把持する構成と比較して、把持する物体の形状の影響をさほど受けることなく、把持部材１間で該物体の把持をより安定に行うことができる。 The distance between the pair of gripping members 1 changes according to the rotation of the cam 4. More specifically, the distance between the pair of gripping members 1 changes as at least one gripping member 1 moves in the separating direction or the approaching direction according to the rotation of the cam 4. For example, when the force with which the cam 4 pushes the gripping member 1 in the separating direction becomes larger than the force with which the moving portion 3 pushes the gripping member 1 in the approaching direction, the gripping member 1 moves in the separating direction, whereby the pair of gripping members The interval between 1s becomes wider. On the other hand, when the force of the cam 4 pushing the gripping member 1 in the separating direction is smaller than the force of the moving portion 3 pushing the gripping member 1 in the approaching direction, the gripping member 1 moves in the approaching direction, whereby the pair of gripping members The interval between 1s becomes narrower. Therefore, by moving the pair of gripping members 1 facing each other across the object in the opposite direction OD as described above, the gripping device 100 can perform the gripping operation and the gripping release operation of the object. Therefore, the gripping device 100 is not significantly affected by the shape of the object to be gripped, as compared with a configuration in which the tip of the pair of gripping members 1 is rotationally moved to grip the object. The object can be gripped more stably.

また、カム４の回転に応じて一対の把持部材１間の間隔を変化させることにより、電磁石又は空気圧などを利用して該間隔を変化させる構成と比較して、把持装置１００を単純な構造とすることができる。すなわち、小型且つ軽量で安価な把持装置１００を提供することができる。 Further, the gripping device 100 has a simple structure as compared with a configuration in which the spacing between the pair of gripping members 1 is changed according to the rotation of the cam 4 to change the spacing by using an electromagnet, air pressure, or the like. can do. That is, it is possible to provide a small, lightweight, and inexpensive gripping device 100.

次に、少なくとも一方の把持部材１は、前述のように、カム４が回転時に接する接触部１ａを含んでいる。なお、接触部１ａは、本実施形態では一対の把持部材１それぞれに含まれているが、この例示に限定されず、一対の把持部材１のうちの一方に含まれていてもよい。また、回転軸ＲＡと平行な軸方向ＡＤにおいて、接触部１ａの幅は、カム４の対向方向ＯＤにおける側面の幅以下である。このようにすれば、カム４が一対の把持部材１間の間隔を変化させる際、回転軸ＲＡと平行な軸方向ＡＤにおいて、カム４と一対の把持部材１との間に偏った力が作用し難くなる。 Next, at least one grip member 1 includes a contact portion 1a with which the cam 4 comes into contact during rotation, as described above. Although the contact portion 1a is included in each of the pair of gripping members 1 in the present embodiment, the contact portion 1a is not limited to this embodiment and may be included in one of the pair of gripping members 1. Further, in the axial direction AD parallel to the rotation axis RA, the width of the contact portion 1a is equal to or less than the width of the side surface of the cam 4 in the facing direction OD. By doing so, when the cam 4 changes the distance between the pair of gripping members 1, a biased force acts between the cam 4 and the pair of gripping members 1 in the axial direction AD parallel to the rotation axis RA. It becomes difficult to do.

また、上述のように、本実施形態では、カム４の対向方向ＯＤにおける側面は、一対の把持部材１それぞれに接している。一対の把持部材１の各々の接触部１ａは、対向方向ＯＤにおいて互いに対向している。より具体的には、対向方向ＯＤから見て、該各々の接触部１ａは、軸方向ＡＤにおいて互いに重なっている。さらに、対向方向ＯＤから見て、接触部１ａの全てが、軸方向ＡＤにおいてカム４の側面とも重なっている。なお、回転するカム４との摩擦により接触部１ａが磨耗することによって両者の接触面積が増加しても、接触部１ａの幅が狭いほど該接触面積の増加量は小さくなる。従って、接触部１ａが磨耗する際、カム４と該接触部１ａとの接触面積の変化をより小さくできる。また、たとえば、仮に軸方向ＡＤにおいて接触部１ａの幅がカム４の側面の幅もよりも大きい場合、カム４は把持部材１を磨耗させた場合に対向方向ＯＤにおいて把持部材１にめり込んでしまう。このような場合、軸方向ＡＤにおいてカム４の前面及び後面それぞれが把持部材１と接触することになり、カム４の前面及び後面それぞれにおいても把持部材１がさらに磨耗されてしまう。さらに、カム４の前面及び後面それぞれでの摩擦によって、カム４の回転運動が阻害されることにより、カム４のトルクが低減されてしまう。一方、本実施形態のように軸方向ＡＤにおいて接触部１ａの幅がカム４の側面の幅以下であり、且つ、対向方向ＯＤから見て接触部１ａがカム４の側面と重なる場合、把持部材１を磨耗させた場合であっても、カム４の前面及び後面それぞれが把持部材１と接触しない。従って、カム４の前面及び後面それぞれにおける把持部材１の磨耗を防止できる。さらに、カム４の前面及び後面それぞれと把持部材１との間の摩擦を防止できるので、該摩擦によるカム４のトルクの低減を防止できる。 Further, as described above, in the present embodiment, the side surfaces of the cam 4 in the facing direction OD are in contact with each of the pair of gripping members 1. The contact portions 1a of the pair of gripping members 1 face each other in the facing direction OD. More specifically, when viewed from the opposite direction OD, the respective contact portions 1a overlap each other in the axial direction AD. Further, when viewed from the facing direction OD, all of the contact portions 1a also overlap with the side surface of the cam 4 in the axial direction AD. Even if the contact area between the two increases due to wear of the contact portion 1a due to friction with the rotating cam 4, the narrower the width of the contact portion 1a, the smaller the increase in the contact area. Therefore, when the contact portion 1a is worn, the change in the contact area between the cam 4 and the contact portion 1a can be made smaller. Further, for example, if the width of the contact portion 1a is larger than the width of the side surface of the cam 4 in the axial direction AD, the cam 4 will sink into the gripping member 1 in the facing direction OD when the gripping member 1 is worn. .. In such a case, the front surface and the rear surface of the cam 4 come into contact with the gripping member 1 in the axial direction AD, and the gripping member 1 is further worn on each of the front surface and the rear surface of the cam 4. Further, the friction on the front surface and the rear surface of the cam 4 hinders the rotational movement of the cam 4, so that the torque of the cam 4 is reduced. On the other hand, when the width of the contact portion 1a is equal to or less than the width of the side surface of the cam 4 in the axial direction AD and the contact portion 1a overlaps the side surface of the cam 4 when viewed from the facing direction OD as in the present embodiment, the grip member Even when 1 is worn, the front surface and the rear surface of the cam 4 do not come into contact with the grip member 1. Therefore, it is possible to prevent the grip member 1 from being worn on each of the front surface and the rear surface of the cam 4. Further, since friction between the front surface and the rear surface of the cam 4 and the gripping member 1 can be prevented, it is possible to prevent the torque of the cam 4 from being reduced due to the friction.

次に、少なくとも一方の把持部材１は、対向方向ＯＤに凹む凹部１３を有している。なお、本実施形態では一対の把持部材１それぞれが凹部１３を有しているが、この例示に限定されず、一対の把持部材１のうちの一方が凹部１３を有していてもよい。また、凹部１３は、接触部１ａの回転軸ＲＡと平行な軸方向ＡＤにおける端部に設けられている。このようにすれば、凹部１３を設けることにより、接触部１ａの軸方向ＡＤにおける幅を小さくできる。そのため、接触部１ａの軸方向ＡＤにおける幅を回転軸ＲＡと平行な軸方向ＡＤにおけるカム４の側面の幅以下にすることができる。従って、前述のようにカム４から把持部材１へのトルクの伝達効率の低下及び／又はカム４の摺動による接触部１ａにおける把持部材１の偏った磨耗を抑制しつつ、カム４を小型化できる。よって、把持装置１００の小型化に寄与できる。 Next, at least one grip member 1 has a recess 13 recessed in the facing direction OD. In the present embodiment, each of the pair of gripping members 1 has a recess 13, but the present invention is not limited to this example, and one of the pair of gripping members 1 may have a recess 13. Further, the recess 13 is provided at the end of the contact portion 1a in the axial direction AD parallel to the rotation axis RA. By doing so, the width of the contact portion 1a in the axial direction AD can be reduced by providing the recess 13. Therefore, the width of the contact portion 1a in the axial direction AD can be set to be equal to or smaller than the width of the side surface of the cam 4 in the axial direction AD parallel to the rotation axis RA. Therefore, as described above, the cam 4 is downsized while suppressing the decrease in torque transmission efficiency from the cam 4 to the grip member 1 and / or the uneven wear of the grip member 1 in the contact portion 1a due to the sliding of the cam 4. can. Therefore, it can contribute to the miniaturization of the gripping device 100.

凹部１３は、第１凹部１３ａと、第２凹部１３ｂと、を含む。 The recess 13 includes a first recess 13a and a second recess 13b.

第１凹部１３ａは少なくとも一方の把持部材１の前端部に設けられる。なお、第１凹部１３ａは、本実施形態では一対の把持部材１それぞれに設けられているが、この例示に限定されず、一対の把持部材１のうちの一方に設けられてもよい。 The first recess 13a is provided at the front end of at least one grip member 1. Although the first recess 13a is provided in each of the pair of gripping members 1 in the present embodiment, the first recess 13a is not limited to this embodiment and may be provided in one of the pair of gripping members 1.

第２凹部１３ｂは、少なくとも一方の把持部材１の後端部に設けられ、軸方向ＡＤから見て第１凹部１３ａと重なる。なお、第２凹部１３ｂは、本実施形態では一対の把持部材１それぞれに設けられているが、この例示に限定されず、一対の把持部材１のうちの一方に設けられてもよい。 The second recess 13b is provided at the rear end portion of at least one grip member 1 and overlaps with the first recess 13a when viewed from the axial direction AD. The second recess 13b is provided in each of the pair of gripping members 1 in the present embodiment, but is not limited to this example, and may be provided in one of the pair of gripping members 1.

このように、第１凹部１３ａ及び第２凹部１３ｂを設けることにより、少なくとも一方の把持部材１において接触部１ａの軸方向ＡＤにおける幅をさらに小さくできる。 By providing the first recess 13a and the second recess 13b in this way, the width of the contact portion 1a in the axial direction AD of at least one grip member 1 can be further reduced.

また、一対の把持部材１の両方に第１凹部１３ａ及び第２凹部１３ｂを設けることにより、各々の把持部材１を同一形状にすることができるので、部品点数を少なくすることができる。これにより、把持装置１００の製造工程を簡略化でき、製造コストを軽減できる。 Further, by providing the first recess 13a and the second recess 13b on both of the pair of gripping members 1, each gripping member 1 can have the same shape, so that the number of parts can be reduced. As a result, the manufacturing process of the gripping device 100 can be simplified and the manufacturing cost can be reduced.

＜１－２－２．カムの構成＞
次に、図２及び図３を参照して、カム４の構成を説明する。<1-2-2. Cam configuration>
Next, the configuration of the cam 4 will be described with reference to FIGS. 2 and 3.

カム４は、複数の支持部材２間に位置している。このようにすれば、少なくとも一方の把持部材１が、カム４よりも軸方向ＡＤ及び対向方向ＯＤの両方と垂直な方向の一方側及び他方側それぞれに位置する支持部材２に沿って、滑らかに移動できる。従って、対向方向ＯＤにおける一対の把持部材１の開閉動作を安定させることができる。 The cam 4 is located between the plurality of support members 2. By doing so, at least one grip member 1 is smoothly along the support member 2 located on one side and the other side in the direction perpendicular to both the axial direction AD and the opposite direction OD than the cam 4. You can move. Therefore, the opening / closing operation of the pair of gripping members 1 in the facing direction OD can be stabilized.

また、カム４は、シャフト５ａに連結される連結部４１を複数有する。本実施形態では、ねじ止めなどの連結手段を用いて、連結部４１がカム取付部材５ｂに連結され、カム取付部材５ｂが背面開口６ｃを通じて筐体６の内部に挿通されたシャフト５ａに連結されている。なお、連結部４１の数は、本実施形態では２個であるが、この例示に限定されず
３個以上の自然数であってもよい。Further, the cam 4 has a plurality of connecting portions 41 connected to the shaft 5a. In the present embodiment, the connecting portion 41 is connected to the cam mounting member 5b by using a connecting means such as screwing, and the cam mounting member 5b is connected to the shaft 5a inserted into the housing 6 through the back opening 6c. ing. The number of connecting portions 41 is two in the present embodiment, but is not limited to this example and may be a natural number of three or more.

回転軸ＲＡと平行な軸方向ＡＤから見て、複数の連結部４１は、回転軸ＲＡを中心として等間隔に設けられる。たとえば、本実施形態では軸方向ＡＤから見て、２個の連結部４１が、回転軸ＲＡを中心として等配されており、言い換えると回転軸ＲＡを中心として点対称となる位置にそれぞれ設けられている。このようにすれば、カム４が少なくとも一方の把持部材１を移動させる際にカム４が把持部材１から受ける力により、カム４の回転中心が回転軸ＲＡからずれることを抑制又は防止できる。 Seen from the axial direction AD parallel to the rotation axis RA, the plurality of connecting portions 41 are provided at equal intervals about the rotation axis RA. For example, in the present embodiment, the two connecting portions 41 are equally arranged with the rotation axis RA as the center when viewed from the axial direction AD, in other words, they are provided at positions symmetrical with respect to the rotation axis RA as the center. ing. By doing so, it is possible to suppress or prevent the rotation center of the cam 4 from deviating from the rotation shaft RA due to the force that the cam 4 receives from the grip member 1 when the cam 4 moves at least one grip member 1.

次に、カム４の形状を説明する。図４Ａは、軸方向ＡＤからみたカムの形状の一例を示す図である。図４Ｂは、軸方向ＡＤからみたカムの形状の他の一例を示す図である。 Next, the shape of the cam 4 will be described. FIG. 4A is a diagram showing an example of the shape of the cam as seen from the axial direction AD. FIG. 4B is a diagram showing another example of the shape of the cam as seen from the axial direction AD.

回転軸ＲＡと平行な軸方向ＡＤから見て、カム４は、本実施形態では図４Ａに示すように、長径及び短径を有する形状である。このように、回転軸ＲＡから見た形状がたとえば楕円形状のような簡易な形状であるカム４を用いることにより、少なくとも一方の把持部材１を離間方向に移動させることができる。 Seen from the axial direction AD parallel to the rotation axis RA, the cam 4 has a shape having a major axis and a minor axis as shown in FIG. 4A in the present embodiment. As described above, by using the cam 4 having a simple shape such as an elliptical shape seen from the rotation axis RA, at least one grip member 1 can be moved in the separating direction.

ここで、回転軸ＲＡと平行な軸方向ＡＤから見て、カムの中央位置ＣＬは、本実施形態では図４Ａに示すように回転中心である回転軸ＲＡと一致しているが、この例示に限定されない。回転軸ＲＡと平行な軸方向ＡＤから見て、カムの中央位置ＣＬは、図４Ｂに示すように、回転軸ＲＡからずれていてもよい。このようにすれば、いわゆる偏心カム４を用いて、少なくとも一方の把持部材１を離間方向に移動させることができる。なお、偏心カム４の形状は、図４Ｂでは円形であるが、この例示に限定されず、たとえば楕円形などの長径及び短径を有する形状であってもよい。なお、図４Ｂのカム４は３個の連結部４１を有している。３個の連結部４１は、軸方向ＡＤから見て、回転軸ＲＡを中心として等配されており、言い換えると、３個の連結部４１は、軸方向ＡＤから見て、回転軸ＲＡを中心として回転対称となる位置にそれぞれ設けられている。 Here, when viewed from the axial direction AD parallel to the rotation axis RA, the center position CL of the cam coincides with the rotation axis RA which is the rotation center as shown in FIG. 4A in the present embodiment. Not limited. The center position CL of the cam may deviate from the rotation axis RA as shown in FIG. 4B when viewed from the axial direction AD parallel to the rotation axis RA. In this way, at least one gripping member 1 can be moved in the separating direction by using the so-called eccentric cam 4. The shape of the eccentric cam 4 is circular in FIG. 4B, but is not limited to this example, and may be a shape having a major axis and a minor axis such as an elliptical shape. The cam 4 in FIG. 4B has three connecting portions 41. The three connecting portions 41 are evenly arranged around the rotation axis RA when viewed from the axial AD, in other words, the three connecting portions 41 are centered on the rotating shaft RA when viewed from the axial AD. They are provided at positions that are rotationally symmetric.

＜２．第２実施形態＞
次に、第２実施形態を説明する。第２実施形態では、把持装置１０１の構成が第１実施形態とは異なっている。なお、第２実施形態に係る以下の説明では、第１実施形態と同じ要素には同じ符号を付し、第１実施形態と同じ構成及び要素の説明を省略することがある。<2. 2nd Embodiment>
Next, the second embodiment will be described. In the second embodiment, the configuration of the gripping device 101 is different from that in the first embodiment. In the following description relating to the second embodiment, the same elements as those in the first embodiment may be designated by the same reference numerals, and the description of the same configurations and elements as those in the first embodiment may be omitted.

＜２－１．第２実施形態に係る搬送装置の構成＞
搬送装置４００は、把持装置１０１と、アーム部２００と、基部３００と、を備える。把持装置１０１は、アーム部２００によって移動可能に保持されている。<2-1. Configuration of the transport device according to the second embodiment>
The transport device 400 includes a gripping device 101, an arm portion 200, and a base portion 300. The gripping device 101 is movably held by the arm portion 200.

＜２－２．第２実施形態に係る把持装置の構成＞
次に、第２実施形態に係る把持装置１０１の構成を説明する。図５は、第２実施形態に係る把持装置１０１の一例を示す斜視図である。図６は、第２実施形態に係る把持装置１０１の断面図である。なお、図５では、構成を理解し易くするため、後述する支持部材２、移動部３、及び筐体６などの一部の構成要素を透過させて図示している。また、図６は、回転軸ＲＡを含み且つ対向方向ＯＤと平行な平面による把持装置１０１の断面構造を示している。<2-2. Configuration of gripping device according to the second embodiment>
Next, the configuration of the gripping device 101 according to the second embodiment will be described. FIG. 5 is a perspective view showing an example of the gripping device 101 according to the second embodiment. FIG. 6 is a cross-sectional view of the gripping device 101 according to the second embodiment. In addition, in FIG. 5, in order to make the configuration easy to understand, some components such as the support member 2, the moving portion 3, and the housing 6 which will be described later are transparently shown. Further, FIG. 6 shows a cross-sectional structure of the gripping device 101 including the rotation axis RA and having a plane parallel to the facing direction OD.

把持装置１０１は、一対の把持部材１、支持部材２、移動部３、カム４、モータ５、及び筐体６のほか、筐体保持部７をさらに備えている。 The gripping device 101 further includes a pair of gripping members 1, a support member 2, a moving portion 3, a cam 4, a motor 5, a housing 6, and a housing holding portion 7.

各々の把持部材１は、支持部材２により支持される部位から回転軸ＲＡと平行な軸方向ＡＤに延びている。チャック部１１は、把持部材１の軸方向ＡＤの先端に設けられている。このようにすれば、一対の把持部材１は、回転軸ＲＡと平行な軸方向ＡＤに位置する先端で物体を把持できる。 Each grip member 1 extends from a portion supported by the support member 2 in an axial direction AD parallel to the rotation axis RA. The chuck portion 11 is provided at the tip of the axial AD of the gripping member 1. In this way, the pair of gripping members 1 can grip the object at the tip located in the axial direction AD parallel to the rotation axis RA.

筐体６は、本実施形態では後述するベアリング７２及び筐体保持部７を介してモータ５に取り付けられている。筐体６は、筐体開口６ａ、窪み部６ｂ、及び背面開口６ｃを有している。筐体開口６は、筐体６の前面に設けられ、筐体６を軸方向ＡＤに貫通している。各々の把持部材１の貫通孔１２を含む一部は、筐体６内に収容されている。一方、各々の把持部材１のチャック部１１を含む残りの一部が、筐体開口６を介して、筐体６の外部に突出している。 In this embodiment, the housing 6 is attached to the motor 5 via a bearing 72 and a housing holding portion 7, which will be described later. The housing 6 has a housing opening 6a, a recessed portion 6b, and a back opening 6c. The housing opening 6 is provided on the front surface of the housing 6 and penetrates the housing 6 in the axial direction AD. A part of each gripping member 1 including the through hole 12 is housed in the housing 6. On the other hand, the remaining part of each gripping member 1 including the chuck portion 11 projects to the outside of the housing 6 through the housing opening 6.

筐体保持部７は、本実施形態では、モータ５及びアーム部２００に連結されている。なお、筐体保持部７は、本実施形態ではプレート部材７１を介してモータ５に連結されているが、この例示に限定されず、モータ５に直接に連結されていてもよい。また、筐体保持部７は、ベアリング７２を介して、回転軸ＲＡを中心にして回転可能に筐体６を支持している。より具体的には、筐体保持部７は、回転軸ＲＡを中心とする筒状であり且つ軸方向ＡＤに延びる筒部７ａを有している。筒部７ａは、筐体６の背面開口６ｃに挿通されている。背面開口６ｃにおいて、筐体６と筐体保持部７の筒部７ａとの間には、ベアリング７２が設けられている。筒部７ａは、ベアリング７２を介して回転可能に筐体６を支持している。 In this embodiment, the housing holding portion 7 is connected to the motor 5 and the arm portion 200. In the present embodiment, the housing holding portion 7 is connected to the motor 5 via the plate member 71, but the present invention is not limited to this example, and the housing holding portion 7 may be directly connected to the motor 5. Further, the housing holding portion 7 rotatably supports the housing 6 about the rotation shaft RA via the bearing 72. More specifically, the housing holding portion 7 has a cylindrical portion 7a having a cylindrical shape centered on the rotation shaft RA and extending in the axial direction AD. The tubular portion 7a is inserted through the back opening 6c of the housing 6. In the back opening 6c, a bearing 72 is provided between the housing 6 and the tubular portion 7a of the housing holding portion 7. The tubular portion 7a rotatably supports the housing 6 via the bearing 72.

また、筒部７ａの内部には、シャフト５ａの前端部、カム取付部材５ｂ、及びカム４の後端部が収容されている。筒部７ａの内部において、カム４の後端部が、回転軸ＲＡを中心として回転可能にカム取付部材５ｂを介してシャフト５ａに連結されている。なお、カム４の前端部は、筒部７ａの外部に位置し、各々の把持部材１の接触部４ａと対向方向ＯＤにおいて接している。 Further, the front end portion of the shaft 5a, the cam mounting member 5b, and the rear end portion of the cam 4 are housed inside the tubular portion 7a. Inside the tubular portion 7a, the rear end portion of the cam 4 is rotatably connected to the shaft 5a via the cam mounting member 5b about the rotation shaft RA. The front end portion of the cam 4 is located outside the tubular portion 7a and is in contact with the contact portion 4a of each gripping member 1 in the facing direction OD.

次に、筐体６及び筐体保持部７のうちの一方は溝部６ｄを有し、筐体６及び筐体保持部７のうちの他方は突起部７３を有している。溝部６ｄは、軸方向ＡＤに凹み、回転軸ＲＡを中心とする回転方向ＲＤに延びている。突起部７３は、回転軸ＲＡと平行な軸方向ＡＤに突出し、溝部６ｄ内に配置されている。 Next, one of the housing 6 and the housing holding portion 7 has a groove portion 6d, and the other of the housing 6 and the housing holding portion 7 has a protruding portion 73. The groove portion 6d is recessed in the axial direction AD and extends in the rotation direction RD about the rotation axis RA. The protrusion 73 protrudes in the axial direction AD parallel to the rotation axis RA, and is arranged in the groove 6d.

図７は、第２実施形態に係る突起部７３及び溝部６ｄの構成例を示す斜視図である。本実施形態では、図７に示すように、筐体６の後筐体６０ｂが溝部６ｄを有し、筐体保持部７が突起部７３を有している。溝部６ｄは、筐体６の後筐体６０ｂの背面に設けられ、軸方向前側に凹んでいる。突起部７３は、筐体保持部７の前面に設けられ、軸方向前側に突出している。 FIG. 7 is a perspective view showing a configuration example of the protrusion 73 and the groove 6d according to the second embodiment. In the present embodiment, as shown in FIG. 7, the rear housing 60b of the housing 6 has a groove portion 6d, and the housing holding portion 7 has a protrusion portion 73. The groove portion 6d is provided on the back surface of the rear housing 60b of the housing 6, and is recessed in the front side in the axial direction. The protrusion 73 is provided on the front surface of the housing holding portion 7 and projects forward in the axial direction.

但し、この例示に限定されず、図８に示すように、筐体６の後筐体６０ｂが突起部６１を有し且つ筐体保持部７が溝部７ｂを有していてもよい。この場合、突起部６１は、後筐体６０ｂの背面に設けられ、軸方向後側に突出する。溝部６ｄは、筐体保持部７の前面に設けられ、軸方向後側に凹む。 However, the present invention is not limited to this, and as shown in FIG. 8, the rear housing 60b of the housing 6 may have a protrusion 61 and the housing holding portion 7 may have a groove portion 7b. In this case, the protrusion 61 is provided on the back surface of the rear housing 60b and projects outward in the axial direction. The groove portion 6d is provided on the front surface of the housing holding portion 7 and is recessed on the rear side in the axial direction.

把持装置１０１では、カム４の回転に応じて、突起部７３が溝部６ｄに沿って回転方向ＲＤに移動可能である。突起部７３が回転方向ＲＤのうちのカム４が回転する方向と同じ側における溝部６ｄの端部、又は溝部６ｄの回転方向ＲＤにおける両端部間、に位置する場合、一対の把持部材１及び筐体６が、カム４とともに回転方向ＲＤに回転する。一方、突起部７３が溝部６ｄの回転方向ＲＤのうちのカム４が回転する方向とは逆側における端部に位置する場合、少なくとも一方の把持部材１が、対向方向ＯＤに移動する。 In the gripping device 101, the protrusion 73 can move in the rotation direction RD along the groove 6d according to the rotation of the cam 4. When the protrusion 73 is located at the end of the groove 6d on the same side of the rotation direction RD as the direction in which the cam 4 rotates, or between both ends of the groove 6d in the rotation direction RD, the pair of gripping members 1 and the housing The body 6 rotates in the rotation direction RD together with the cam 4. On the other hand, when the protrusion 73 is located at the end of the rotation direction RD of the groove 6d on the side opposite to the direction in which the cam 4 rotates, at least one grip member 1 moves in the opposite direction OD.

このようにすれば、同じモータ５の回転駆動により、回転軸ＲＡを中心とする一対の把持部材１の回転動作と、一対の把持部材１による物体の把持動作及び把持の解除動作と、を簡易な構成で切り替えて実施できる。 By doing so, the rotation drive of the same motor 5 simplifies the rotation operation of the pair of gripping members 1 centered on the rotation axis RA, and the gripping operation and the gripping release operation of the object by the pair of gripping members 1. It can be switched and implemented with various configurations.

この構成について、カム４が時計回りの回転方向ＣＷ－ＲＤに回転する場合を例に挙げて説明する。なお、本実施形態では、前述のように、筐体６の後筐体６０ｂに溝部６ｄが設けられ、筐体保持部７に突出部７３が設けられている。 This configuration will be described by taking as an example the case where the cam 4 rotates in the clockwise rotation direction CW-RD. In this embodiment, as described above, the rear housing 60b of the housing 6 is provided with a groove portion 6d, and the housing holding portion 7 is provided with a protruding portion 73.

まず、突起部７３が溝部６ｄの時計回りの回転方向ＣＷ－ＲＤにおける端部に位置している場合、又は溝部６ｄの回転方向ＲＤにおける両端部間に位置している場合を説明する。図９Ａは、カム４の時計回りの回転によって、突起部７３が溝部６ｄの回転方向ＲＤにおける両端部間に位置する場合での第２実施形態における把持装置１０１を軸方向前側からみた図である。 First, a case where the protrusion 73 is located at the end of the groove 6d in the clockwise rotation direction CW-RD, or a case where the protrusion 73 is located between both ends of the groove 6d in the rotation direction RD will be described. FIG. 9A is a view of the gripping device 101 in the second embodiment as viewed from the front side in the axial direction when the protrusion 73 is located between both ends of the groove 6d in the rotation direction RD due to the clockwise rotation of the cam 4. ..

これらの場合にて、モータ５の回転駆動によって時計回りの回転方向ＣＷ－ＲＤに回転するカム４が、少なくとも一方の把持部材１を時計回りの回転方向ＣＷ－ＲＤに押す。これにより、一対の把持部材１が時計回りの回転方向ＣＷ－ＲＤに回転する。さらに、図９Ａに示すように、支持部材２が固定される筐体６も時計回りの回転方向ＣＷ－ＲＤに回転するので、溝部６ｄも時計回りの回転方向ＣＷ－ＲＤに回転移動する。この際、カム４が把持部材１を離間方向に押す力は、移動部３が把持部材１を接近方向に押す力以下である。また、図９Ａでは、各々の把持部材１のチャック部１１は対向方向ＯＤにおいて互いに接している。従って、一対の把持部材１間の間隔は変化しない。また、図９Ａの例示とは異なり、一対の把持部材１間に物体が挟まれている場合には、物体の把持が維持される。 In these cases, the cam 4 rotated in the clockwise rotation direction CW-RD by the rotational drive of the motor 5 pushes at least one grip member 1 in the clockwise rotation direction CW-RD. As a result, the pair of gripping members 1 rotate in the clockwise rotation direction CW-RD. Further, as shown in FIG. 9A, since the housing 6 to which the support member 2 is fixed also rotates in the clockwise rotation direction CW-RD, the groove portion 6d also rotates in the clockwise rotation direction CW-RD. At this time, the force with which the cam 4 pushes the gripping member 1 in the separating direction is less than the force with which the moving portion 3 pushes the gripping member 1 in the approaching direction. Further, in FIG. 9A, the chuck portions 11 of the respective gripping members 1 are in contact with each other in the facing direction OD. Therefore, the distance between the pair of gripping members 1 does not change. Further, unlike the example of FIG. 9A, when the object is sandwiched between the pair of gripping members 1, the gripping of the object is maintained.

次に、溝部６ｄの回転移動により突起部７３が溝部６ｄの逆時計回りの回転方向ＣＣ－ＲＤにおける端部に達した場合を説明する。図９Ｂは、カム４の時計回りの回転によって、突起部７３が溝部６ｄの逆時計回りの回転方向ＣＣ－ＲＤにおける端部に位置する場合での第２実施形態に係る把持装置１０１を軸方向ＡＤからみた図である。図９Ｂの状態で時計回りの回転方向ＣＷ－ＲＤに回転するカム４が把持部材１を押しても、突出部７３によって溝部６ｄが時計回りの回転方向ＣＷ－ＲＤに回転移動できないので、筐体６が時計回りの回転方向ＣＷ－ＲＤに回転できなくなる。そのため、筐体６に固定される支持部材２、及び、該支持部材２に支持される各々の把持部材１も時計回りの回転方向ＣＷ－ＲＤに回転できなくなる。従って、各々の把持部材１は、回転するカム４が押す力によって対向方向ＯＤに移動する。より具体的には、カム４が把持部材１を離間方向に押す力が、移動部３が把持部材１を接近方向に押す力よりも大きくなる。そのため、一対の把持部材１はそれぞれ、離間方向に移動する。この移動により、一対の把持部材１間の間隔が広くなる。さらに、一対の把持部材１間に物体が挟まれていた場合には、物体の把持を解除することができる。 Next, a case where the protrusion 73 reaches the end of the groove 6d in the counterclockwise rotation direction CC-RD due to the rotational movement of the groove 6d will be described. FIG. 9B shows the gripping device 101 according to the second embodiment in the axial direction when the protrusion 73 is located at the end of the counterclockwise rotation direction CC-RD of the groove portion 6d due to the clockwise rotation of the cam 4. It is a figure seen from AD. Even if the cam 4 rotating in the clockwise rotation direction CW-RD pushes the grip member 1 in the state of FIG. 9B, the groove portion 6d cannot be rotationally moved in the clockwise rotation direction CW-RD by the protruding portion 73, so that the housing 6 Cannot rotate in the clockwise rotation direction CW-RD. Therefore, the support member 2 fixed to the housing 6 and each gripping member 1 supported by the support member 2 cannot rotate in the clockwise rotation direction CW-RD. Therefore, each gripping member 1 moves in the opposite direction OD by the pushing force of the rotating cam 4. More specifically, the force with which the cam 4 pushes the gripping member 1 in the separating direction is larger than the force with which the moving portion 3 pushes the gripping member 1 in the approaching direction. Therefore, each of the pair of gripping members 1 moves in the separating direction. This movement widens the distance between the pair of gripping members 1. Further, when the object is sandwiched between the pair of gripping members 1, the gripping of the object can be released.

次に、モータ５がカム４を逆時計回りの回転方向ＣＣ－ＲＤに回転させると、カム４が把持部材１を離間方向に押す力が、移動部３が把持部材１を接近方向に押す力よりも小さくなる。そのため、一対の把持部材１はそれぞれ、接近方向に移動する。この移動により、一対の把持部材１間の間隔が狭くなることにより、一対の把持部材１間に物体を把持することができる。 Next, when the motor 5 rotates the cam 4 in the counterclockwise rotation direction CC-RD, the force that the cam 4 pushes the grip member 1 in the separation direction and the force that the moving portion 3 pushes the grip member 1 in the approach direction. Is smaller than. Therefore, each of the pair of gripping members 1 moves in the approaching direction. Due to this movement, the space between the pair of gripping members 1 is narrowed, so that the object can be gripped between the pair of gripping members 1.

なお、上述の実施形態では、筐体６の後筐体６０ｂ及び筐体保持部７のうちの一方が突起部を有し且つ他方が溝部を有しているが、この例示には限定されない。たとえば、図１０Ａのように、筐体６の後筐体６０ｂが突起部６２ａ、６２ｂを有し、且つ、筐体保持部７が突起部７３を有していても良い。突起部６２ａ、６２ｂはそれぞれ、後筐体６０ｂの背面に設けられ、軸方向後側に突出する。さらに、突起部６２ａの周方向の突起部７３側（すなわち図１０Ａにおいて逆時計回りの回転方向ＣＣ－ＲＤ）における端部の位置は、図７において溝部６ｄの周方向の突起部７３側における端部の位置と同じである。突起部６２ｂの周方向の突起部７３側（すなわち図１０Ａにおいて時計回りの回転方向ＣＷ－ＲＤ）における端部の位置は、図７において溝部６ｄの周方向の突起部７３側における端部の位置と同じである。 In the above embodiment, one of the rear housing 60b and the housing holding portion 7 of the housing 6 has a protrusion and the other has a groove, but the present invention is not limited to this. For example, as shown in FIG. 10A, the rear housing 60b of the housing 6 may have protrusions 62a and 62b, and the housing holding portion 7 may have protrusions 73. The protrusions 62a and 62b are provided on the back surface of the rear housing 60b, respectively, and project to the rear side in the axial direction. Further, the position of the end portion of the protrusion 62a on the circumferential protrusion 73 side (that is, the counterclockwise rotation direction CC-RD in FIG. 10A) is the end of the groove 6d on the circumferential protrusion 73 side in FIG. It is the same as the position of the part. The position of the end portion of the protrusion 62b on the circumferential protrusion 73 side (that is, the clockwise rotation direction CW-RD in FIG. 10A) is the position of the end portion of the groove 6d on the circumferential protrusion 73 side in FIG. Is the same as.

或いは、図１０Ｂのように、筐体６の後筐体６０ｂが突起部６１を有し、且つ、筐体保持部７が突起部７４ａ、７４ｂを有していても良い。突起部７４ａ、７４ｂはそれぞれ、筐体保持部７の前面に設けられ、軸方向前側に突出する。さらに、突起部７４ａの周方向の突起部６１側（すなわち図１０Ｂにおいて逆時計回りの回転方向ＣＣ－ＲＤ）における端部の位置は、図８において溝部７ｂの周方向の突起部６１側における端部の位置と同じである。突起部７４ｂの周方向の突起部６１側（すなわち図１０Ｂにおいて時計回りの回転方向ＣＷ－ＲＤ）における端部の位置は、図８において溝部７ｂの周方向の突起部７３側における端部の位置と同じである。 Alternatively, as shown in FIG. 10B, the rear housing 60b of the housing 6 may have the protrusions 61, and the housing holding portion 7 may have the protrusions 74a and 74b. The protrusions 74a and 74b are each provided on the front surface of the housing holding portion 7 and project forward in the axial direction. Further, the position of the end portion of the protrusion 74a on the circumferential protrusion 61 side (that is, the counterclockwise rotation direction CC-RD in FIG. 10B) is the end of the groove portion 7b on the circumferential protrusion 61 side in FIG. It is the same as the position of the part. The position of the end portion of the protrusion 74b on the circumferential protrusion 61 side (that is, the clockwise rotation direction CW-RD in FIG. 10B) is the position of the end portion of the groove portion 7b on the circumferential protrusion 73 side in FIG. Is the same as.

図１０Ａ及び図１０Ｂのようにしても、図７及び図８の構成と同様に、同じモータ５の回転駆動により、回転軸ＲＡを中心とする一対の把持部材１の回転動作と、一対の把持部材１による物体の把持動作及び把持の解除動作とを簡易な構成で切り替えて実施できる。 Even as shown in FIGS. 10A and 10B, as in the configuration of FIGS. 7 and 8, the rotation drive of the same motor 5 causes the rotation operation of the pair of gripping members 1 centering on the rotation shaft RA and the pair of gripping members. It is possible to switch between the gripping operation and the releasing operation of the object by the member 1 with a simple configuration.

＜３．まとめ＞
上述の実施形態によれば、把持装置１００、１０１は、互いに対向する一対の把持部材１と、一対の把持部材１を支持し、且つ、一対の把持部材１の対向方向ＯＤに少なくとも一方の把持部材１を移動可能に支持する支持部材２と、対向方向ＯＤに沿って一対の把持部材１が互いに近づく方向に少なくとも一方の把持部材１を移動させるための移動部３と、対向方向ＯＤと垂直な回転軸ＲＡを中心にして回転可能であり、且つ、対向方向ＯＤに沿って一対の把持部材１が互いに離れる方向に少なくとも一方の把持部材１を移動させるためのカム４と、カム４を回転駆動するモータ５と、を備える。カム４の対向方向ＯＤにおける側面は、少なくとも一方の把持部材１に接する。一対の把持部材１間の間隔が、カム４の回転に応じて変化する。<3. Summary>
According to the above-described embodiment, the gripping devices 100 and 101 support a pair of gripping members 1 facing each other and a pair of gripping members 1, and grip at least one of the pair of gripping members 1 in the opposite direction OD. A support member 2 that movably supports the member 1, a moving portion 3 for moving at least one grip member 1 in a direction in which the pair of gripping members 1 approach each other along the facing direction OD, and a direction perpendicular to the facing direction OD. The cam 4 and the cam 4 for moving at least one grip member 1 in a direction in which the pair of gripping members 1 are separated from each other along the facing direction OD and which can rotate around the rotation axis RA are rotated. A motor 5 for driving is provided. The side surface of the cam 4 in the facing direction OD is in contact with at least one gripping member 1. The distance between the pair of gripping members 1 changes according to the rotation of the cam 4.

このようにすれば、カム４の回転に応じて少なくとも一方の把持部材１が対向方向ＯＤに移動することによって、一対の把持部材１間の間隔が変化する。たとえば、少なくとも一方の把持部材１が互いに離れる方向に移動させるためのカム４の力が、該少なくとも一方の把持部材１が互いに近づく方向に移動させるための移動部３の力よりも大きくなると、該少なくとも一方の把持部材１が互いに離れる方向に移動することにより、一対の把持部材１間の間隔が広くなる。一方、少なくとも一方の把持部材１が互いに離れる方向に移動させるためのカム４の力が、該少なくとも一方の把持部材１が互いに近づく方向に移動させるための移動部３の力よりも小さくなると、該少なくとも一方の把持部材１が互いに近づく方向に移動することにより、一対の把持部材１間の間隔が狭くなる。そのため、物体を挟んで対向する一対の把持部材１が上述のように対向方向ＯＤに移動することによって、把持装置１００、１０１は、物体の把持動作及び把持の解除動作を行うことができる。従って、上記構成の把持装置１００、１０１は、たとえば一対の把持部材１の先端を回転移動させることによって物体を把持する構成と比較して、把持する物体の形状の影響をさほど受けることなく、把持部材１間で該物体の把持をより安定に行うことができる。 By doing so, at least one of the gripping members 1 moves in the opposite direction OD according to the rotation of the cam 4, so that the distance between the pair of gripping members 1 changes. For example, when the force of the cam 4 for moving at least one gripping member 1 in the direction away from each other becomes larger than the force of the moving portion 3 for moving the at least one gripping member 1 in the direction approaching each other, the force is said to be greater. By moving at least one grip member 1 in a direction away from each other, the distance between the pair of grip members 1 becomes wider. On the other hand, when the force of the cam 4 for moving at least one grip member 1 in the direction away from each other is smaller than the force of the moving portion 3 for moving the at least one grip member 1 in the direction approaching each other, the force is said to be small. By moving at least one grip member 1 in a direction approaching each other, the distance between the pair of grip members 1 becomes narrower. Therefore, by moving the pair of gripping members 1 facing each other across the object in the facing direction OD as described above, the gripping devices 100 and 101 can perform the gripping operation and the gripping release operation of the object. Therefore, the gripping devices 100 and 101 having the above configuration are not significantly affected by the shape of the object to be gripped, as compared with the configuration in which the tip of the pair of gripping members 1 is rotationally moved to grip the object. The object can be gripped more stably between the members 1.

また、カム４の回転に応じて一対の把持部材１間の間隔を変化させることにより、電磁石又は空気圧などを利用して該間隔を変化させる構成と比較して、把持装置１００、１０１を単純な構造とすることができる。すなわち、小型且つ軽量で安価な把持装置１００を提供することができる。 Further, the gripping devices 100 and 101 are simpler than the configuration in which the spacing between the pair of gripping members 1 is changed according to the rotation of the cam 4 to change the spacing by using an electromagnet, air pressure, or the like. It can be a structure. That is, it is possible to provide a small, lightweight, and inexpensive gripping device 100.

＜４．その他＞
以上、本発明の実施形態について説明した。なお、本発明の範囲は上述の実施形態に限定されない。本発明は、発明の主旨を逸脱しない範囲で種々の変更を加えて実施することができる。また、上述の実施形態で説明した事項は、矛盾を生じない範囲で適宜任意に組み合わせることができる。<4. Others>
The embodiment of the present invention has been described above. The scope of the present invention is not limited to the above-described embodiment. The present invention can be carried out with various modifications without departing from the gist of the invention. In addition, the items described in the above-described embodiments can be arbitrarily combined as long as they do not cause a contradiction.

本発明は、物体を把持可能な把持装置を有する搬送装置に有用である。 The present invention is useful for a transfer device having a gripping device capable of gripping an object.

１００、１０１・・・把持装置、２００・・・アーム部、３００・・・基部、４００・・・搬送装置、１・・・把持部材、１ａ・・・接触部、１１・・・チャック部、１１ａ・・・第１チャック部、１１ｂ・・・第２チャック部、１２・・・貫通孔、１３・・・凹部、１３ａ・・・第１凹部、１３ｂ・・・第２凹部、２・・・支持部材、３・・・移動部、４・・・カム、４１・・・連結部、５・・・モータ、５ａ・・・シャフト、５ｂ・・・カム取付部材、６・・・筐体、６ａ・・・筐体開口、６ｂ・・・窪み部、６ｃ・・・背面開口、６ｄ・・・溝部、６０ａ・・・前筐体、６０ｂ・・・後筐体、６１、６２ａ、６２ｂ・・・突起部、７・・・筐体保持部、７ａ・・・筒部、７ｂ・・・溝部、７１・・・プレート部材、７２・・・ベアリング、７３、７４ａ、７４ｂ・・・突起部、ＲＡ・・・回転軸、ＣＬ・・・中央位置、ＡＤ・・・軸方向、ＯＤ・・・対向方向、ＲＤ・・・回転方向、ＣＷ－ＲＤ・・・時計回りの回転方向、ＣＣ－ＲＤ・・・逆時計回りの回転方向 100, 101 ... Grip device, 200 ... Arm part, 300 ... Base part, 400 ... Transfer device, 1 ... Grip member, 1a ... Contact part, 11 ... Chuck part, 11a ... 1st chuck portion, 11b ... 2nd chuck portion, 12 ... through hole, 13 ... recess, 13a ... 1st recess, 13b ... 2nd recess, 2 ... -Support member, 3 ... moving part, 4 ... cam, 41 ... connecting part, 5 ... motor, 5a ... shaft, 5b ... cam mounting member, 6 ... housing , 6a ... housing opening, 6b ... recess, 6c ... back opening, 6d ... groove, 60a ... front housing, 60b ... rear housing, 61, 62a, 62b ... protrusion, 7 ... housing holding part, 7a ... cylinder part, 7b ... groove part, 71 ... plate member, 72 ... bearing, 73, 74a, 74b ... protrusion Part, RA ... Rotation axis, CL ... Center position, AD ... Axial direction, OD ... Opposite direction, RD ... Rotation direction, CW-RD ... Clockwise rotation direction, CC -RD: Counterclockwise rotation direction

Claims

互いに対向する一対の把持部材と、
一対の前記把持部材を支持し、且つ、一対の前記把持部材の対向方向に少なくとも一方の前記把持部材を移動可能に支持する支持部材と、
前記対向方向に沿って一対の前記把持部材が互いに近づく方向に前記少なくとも一方の前記把持部材を移動させるための移動部と、
前記対向方向と垂直な回転軸を中心にして回転可能であり、且つ、前記対向方向に沿って一対の前記把持部材が互いに離れる方向に前記少なくとも一方の前記把持部材を移動させるためのカムと、
前記カムを回転駆動するモータと、
を備え、
前記カムの前記対向方向における側面は、前記少なくとも一方の前記把持部材に接し、一対の前記把持部材間の間隔が、前記カムの回転に応じて変化し、
前記少なくとも一方の前記把持部材は、前記カムが回転時に接する接触部を含み、
前記回転軸と平行な方向において、前記接触部の幅は、前記カムの前記対向方向における側面の幅以下である把持装置。 A pair of gripping members facing each other,
A support member that supports the pair of the gripping members and movably supports at least one of the gripping members in the opposite direction of the pair of the gripping members.
A moving portion for moving at least one of the gripping members in a direction in which the pair of gripping members approach each other along the facing direction.
A cam that is rotatable about a rotation axis perpendicular to the facing direction and that moves the at least one gripping member in a direction in which the pair of gripping members are separated from each other along the facing direction.
The motor that drives the cam to rotate and
Equipped with
The side surface of the cam in the facing direction is in contact with the at least one of the grip members, and the distance between the pair of the grip members changes according to the rotation of the cam .
The at least one gripping member includes a contact portion with which the cam comes into contact during rotation.
A gripping device in which the width of the contact portion is equal to or less than the width of the side surface of the cam in the facing direction in a direction parallel to the rotation axis .

前記回転軸と平行な方向から見て、前記カムは、長径及び短径を有する形状である請求項１に記載の把持装置。 The gripping device according to claim 1, wherein the cam has a shape having a major axis and a minor axis when viewed from a direction parallel to the rotation axis.

前記回転軸と平行な方向から見て、前記回転軸は、前記カムの中央位置からずれている請求項１又は請求項２に記載の把持装置。 The gripping device according to claim 1 or 2, wherein the rotating shaft is displaced from the center position of the cam when viewed from a direction parallel to the rotating shaft.

前記モータは、前記回転軸を中心に回転可能なシャフトを有し、
前記カムは、前記シャフトに連結される連結部を複数有し、
前記回転軸と平行な方向から見て、複数の前記連結部は、前記回転軸を中心として等間隔に設けられる請求項１～請求項３のいずれかに記載の把持装置。 The motor has a shaft that can rotate about the rotation axis.
The cam has a plurality of connecting portions connected to the shaft, and the cam has a plurality of connecting portions.
The gripping device according to any one of claims 1 to 3, wherein the plurality of connecting portions are provided at equal intervals about the rotation axis when viewed from a direction parallel to the rotation axis.

前記支持部材は、複数であって、前記回転軸及び前記対向方向と垂直な方向に並び、
前記カムは、前記支持部材間に位置する請求項１～請求項４のいずれかに記載の把持装置。 A plurality of the support members are arranged in a direction perpendicular to the rotation axis and the facing direction.
The gripping device according to any one of claims 1 to 4, wherein the cam is located between the support members.

前記把持部材は樹脂製である請求項１～請求項５のいずれかに記載の把持装置。 The gripping device according to any one of claims 1 to 5, wherein the gripping member is made of resin.

前記カムの前記対向方向における側面は、一対の前記把持部材に接し、
一対の前記把持部材の各々の前記接触部は、前記対向方向において互いに対向する請求項１に記載の把持装置。 The facing side surfaces of the cam are in contact with the pair of gripping members.
The gripping device according to claim 1 , wherein the contact portions of each of the pair of gripping members face each other in the facing direction.

前記少なくとも一方の前記把持部材は、前記対向方向に凹む凹部を有し、
前記凹部は、前記接触部の前記回転軸と平行な方向における端部に設けられる請求項１又は請求項７に記載の把持装置。 The at least one gripping member has a recess recessed in the opposite direction.
The gripping device according to claim 1 or 7 , wherein the recess is provided at an end of the contact portion in a direction parallel to the axis of rotation.

前記凹部は、第１凹部と、第２凹部と、を含み、
前記第１凹部は、前記接触部において、前記少なくとも一方の前記把持部材の前記回転軸と平行な方向の一方側における端部に設けられ、
前記第２凹部は、前記接触部において、前記少なくとも一方の前記把持部材の前記回転軸と平行な方向の他方側における端部に設けられ、
前記回転軸と平行な方向から見て前記第１凹部と重なる請求項８に記載の把持装置。 The recess includes a first recess and a second recess.
The first recess is provided at the end of the contact portion on one side in a direction parallel to the axis of rotation of the at least one grip member.
The second recess is provided at the end of the contact portion on the other side of the gripping member in a direction parallel to the axis of rotation.
The gripping device according to claim 8 , wherein the gripping device overlaps with the first concave portion when viewed from a direction parallel to the rotation axis.

前記少なくとも一方の前記把持部材は、
前記接触部と、
対向する他の前記把持部材との間に物体を把持可能な部位と、
前記支持部材により移動可能に支持される部位と、
を含む単一の部材である請求項１および請求項７～請求項９のいずれかに記載の把持装置。 The at least one of the gripping members
With the contact part
A portion capable of gripping an object between the gripping member and the other facing member,
A part that is movably supported by the support member and
The gripping device according to any one of claims 1 and 7 to 9 , which is a single member including the above.

一対の前記把持部材はそれぞれ、第１チャック部と、第２チャック部と、
を有し、
前記第１チャック部及び前記第２チャック部は、前記回転軸と平行な方向に並ぶ請求項１～請求項１０のいずれかに記載の把持装置。 The pair of gripping members includes a first chuck portion, a second chuck portion, and the like, respectively.
Have,
The gripping device according to any one of claims 1 to 10 , wherein the first chuck portion and the second chuck portion are arranged in a direction parallel to the rotation axis.

一対の前記把持部材はそれぞれ、第１チャック部と、第２チャック部と、
を有し、
前記第１チャック部及び前記第２チャック部は、前記回転軸と垂直な方向に並ぶ請求項１～請求項１０のいずれかに記載の把持装置。 The pair of gripping members includes a first chuck portion, a second chuck portion, and the like, respectively.
Have,
The gripping device according to any one of claims 1 to 10 , wherein the first chuck portion and the second chuck portion are arranged in a direction perpendicular to the rotation axis.

各々の前記把持部材は、前記支持部材により支持される部位から前記回転軸及び前記対向方向と垂直な方向に延びる請求項１～請求項１２のいずれかに記載の把持装置。 The gripping device according to any one of claims 1 to 12 , wherein each gripping member extends from a portion supported by the support member in a direction perpendicular to the rotation axis and the facing direction.

各々の前記把持部材は、前記支持部材により支持される部位から前記回転軸と平行な方向に延びる請求項１～請求項１２のいずれかに記載の把持装置。 The gripping device according to any one of claims 1 to 12 , wherein each gripping member extends from a portion supported by the support member in a direction parallel to the rotation axis.

前記支持部材が固定される筐体と、
前記モータに固定され且つ前記回転軸を中心にして回転可能に前記筐体を支持する筐体保持部と、
をさらに備え、
前記筐体及び前記筐体保持部のうちの一方は、前記回転軸を中心とする回転方向に延びる溝部を有し、
前記筐体及び前記筐体保持部のうちの他方は、前記回転軸と平行な方向に突出し且つ前記溝部内に配置される突起部を有し、
前記突起部が前記回転方向のうちの前記カムが回転する方向と同じ側における前記溝部の端部、又は前記溝部の前記回転方向における両端部間に位置する場合、一対の前記把持部材及び前記筐体が、前記カムとともに前記回転方向に回転し、
前記突起部が前記回転方向のうちの前記カムが回転する方向とは逆側における端部に位置する場合、少なくとも一方の前記把持部材が、前記対向方向に移動する請求項１４に記載の把持装置。 A housing to which the support member is fixed and
A housing holding portion that is fixed to the motor and rotatably supports the housing around the rotation axis,
Further prepare
One of the housing and the housing holding portion has a groove portion extending in the rotation direction about the rotation axis.
The other of the housing and the housing holding portion has a protrusion portion that protrudes in a direction parallel to the rotation axis and is arranged in the groove portion.
When the protrusion is located at the end of the groove on the same side of the rotation direction as the direction in which the cam rotates, or between both ends of the groove in the rotation direction, the pair of gripping members and the casing. The body rotates in the direction of rotation together with the cam,
14. The gripping device according to claim 14 , wherein when the protrusion is located at an end of the rotation direction opposite to the direction in which the cam rotates, at least one of the gripping members moves in the opposite direction. ..

一対の把持部材間に物体を把持可能な請求項１～請求項１５のいずれかに記載の把持装置と、
前記把持装置とともに前記物体を移動させるアーム部と、
前記アーム部を支持する基部と、
を備える搬送装置。
The gripping device according to any one of claims 1 to 15 , which can grip an object between a pair of gripping members.
An arm portion that moves the object together with the gripping device,
A base that supports the arm and
A transport device equipped with.