JP7391739B2 - gripping device - Google Patents
gripping device Download PDFInfo
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- JP7391739B2 JP7391739B2 JP2020049378A JP2020049378A JP7391739B2 JP 7391739 B2 JP7391739 B2 JP 7391739B2 JP 2020049378 A JP2020049378 A JP 2020049378A JP 2020049378 A JP2020049378 A JP 2020049378A JP 7391739 B2 JP7391739 B2 JP 7391739B2
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- finger
- link
- operating
- shaft
- active
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- 230000001105 regulatory effect Effects 0.000 description 23
- 230000002093 peripheral effect Effects 0.000 description 13
- 239000000470 constituent Substances 0.000 description 9
- 238000003780 insertion Methods 0.000 description 5
- 230000037431 insertion Effects 0.000 description 5
- 238000013459 approach Methods 0.000 description 3
- 235000013305 food Nutrition 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
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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
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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
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Description
本発明は、ボディの下方において物品の把持を行う把持装置に関する。 The present invention relates to a gripping device that grips an article below a body.
例えば、食品工場などでは、物品としての食品の搬送は、搬送装置の先端に取り付けられた把持装置によって、食品を把持し、搬送装置で把持装置を搬送先にまで搬送して行われる。把持装置は、ボディと、ボディに回動可能に支持された複数の指部材を備える。把持装置は、把持する物品の形状に合わせて指部材の位置を変更する。例えば、４本の指部材を備える把持装置では、ボール状の物品を把持する場合は、指部材を等間隔おきに配置し、長細い形状の物品を把持する場合は、２本で組をなす指部材を平行に並べるとともに、２組の指部材を互いに対向するように配置し、指部材の長手が物品の長手方向へ伸びるように配置する。ボディに対する指部材の位置変更は、例えば、特許文献１に開示されるように、指部材を１本ずつ手動で行う。 For example, in a food factory or the like, food products are transported by gripping the food with a gripping device attached to the tip of a transporting device, and transporting the gripping device to a destination with the transporting device. The gripping device includes a body and a plurality of finger members rotatably supported by the body. The gripping device changes the position of the finger members according to the shape of the article to be gripped. For example, in a gripping device equipped with four finger members, when gripping a ball-shaped article, the fingers are arranged at equal intervals, and when gripping a long and narrow article, the fingers are arranged in pairs. The finger members are arranged in parallel, two sets of finger members are arranged to face each other, and the lengths of the finger members extend in the longitudinal direction of the article. The position of the finger members relative to the body is manually changed one by one, as disclosed in Patent Document 1, for example.
ところが、指部材の位置変更を手動で１本ずつ行うには時間を要するという問題がある。
本発明の目的は、指部材の位置変更時間を短縮できる把持装置を提供することにある。
However, there is a problem in that it takes time to manually change the positions of the finger members one by one.
An object of the present invention is to provide a gripping device that can shorten the time required to change the position of finger members.
上記問題点を解決するための把持装置は、複数の指部材と、複数の前記指部材の根元が載置される載置面を備えるとともに前記載置面に直交する回動軸を回動中心として前記指部材を回動可能に支持するボディを備え、複数の前記指部材は前記ボディの側面から突出するとともに前記ボディの下方において物品を把持する把持装置であって、前記載置面に沿って直線状に延びる方向を第１方向とし、前記載置面に沿いかつ前記第１方向に直交する方向を第２方向とすると、前記ボディに支持された操作部材を備えるとともに、前記操作部材は前記第２方向に長手が延びる操作軸案内溝を備え、複数の前記指部材は、前記操作部材の操作に伴って回動する能動側指部材と当該能動側指部材に連動する従動側指部材とを一つの組として備え、前記能動側指部材と従動側指部材とはリンク機構によって、互いに接離する方向へ連動して回動可能に前記ボディに支持され、前記リンク機構は、前記能動側指部材の根元に第１端部が回動可能に支持された第１リンク部材と、前記従動側指部材の根元に第１端部が回動可能に支持された第２リンク部材とを有し、前記第１リンク部材の第２端部と前記第２リンク部材の第２端部とはリンク連結軸によって回動可能に連結され、前記リンク連結軸は前記第２方向へ移動可能に前記ボディに支持され、前記操作部材の前記操作軸案内溝には前記リンク機構を操作するリンク操作軸が挿通されるとともに、前記リンク操作軸は、前記第１リンク部材の前記第１端部及び前記能動側指部材の根元に挿通され、前記操作部材の操作によって前記操作軸案内溝を前記第１方向へ移動させることで前記操作軸案内溝によって前記リンク操作軸を前記第２方向へ移動可能に構成されていることを要旨とする。 A gripping device for solving the above problems includes a plurality of finger members and a mounting surface on which the bases of the plurality of finger members are placed, and the rotation axis is perpendicular to the mounting surface. The gripping device includes a body that rotatably supports the finger members, the plurality of finger members protrude from a side surface of the body, and grips an article below the body, the finger members extending along the placement surface. A first direction is defined as a direction in which the body extends in a straight line, and a second direction is a direction along the placement surface and orthogonal to the first direction. The plurality of finger members include an active finger member that rotates as the operating member is operated, and a driven finger member that moves in conjunction with the active finger member. The active side finger member and the driven side finger member are supported by the body by a link mechanism so as to be rotatable in conjunction with each other in the directions of approaching and separating them, and the link mechanism is a first link member whose first end is rotatably supported at the root of the side finger member; and a second link member whose first end is rotatably supported at the root of the driven side finger member. a second end of the first link member and a second end of the second link member are rotatably connected by a link connecting shaft, and the link connecting shaft is movable in the second direction. A link operating shaft that is supported by the body and operates the link mechanism is inserted into the operating shaft guide groove of the operating member, and the link operating shaft is connected to the first end of the first link member and the operating shaft guide groove of the operating member. The link operating shaft is inserted into the base of the active side finger member, and by moving the operating shaft guide groove in the first direction by operating the operating member, the link operating shaft can be moved in the second direction by the operating shaft guide groove. The main point is that it is structured as follows.
また、把持装置について、前記操作部材は前記第１方向に沿って前記ボディに対し接離する方向へ移動可能であってもよい。
また、把持装置について、前記操作部材は前記ボディの側面から突出していてもよい。
Further, in the gripping device, the operating member may be movable in a direction toward and away from the body along the first direction.
Further, in the gripping device, the operating member may protrude from a side surface of the body.
また、把持装置について、前記組となる前記能動側指部材と前記従動側指部材は、互いに接近した第１姿勢と、当該第１姿勢よりも互いに離間した第２姿勢を取り、前記操作部材は、前記ボディの側面のうち、前記組となる能動側指部材と従動側指部材とで挟まれていない側面に配置されていてもよい。 Further, regarding the gripping device, the active side finger member and the driven side finger member forming the pair take a first posture in which they are close to each other and a second posture in which they are spaced apart from each other from the first posture, and the operating member is Of the side surfaces of the body, the finger member may be disposed on a side surface that is not sandwiched between the active finger member and the driven finger member of the pair.
本発明によれば、指部材の位置変更時間を短縮できる。 According to the present invention, the time required to change the position of the finger member can be shortened.
以下、把持装置を具体化した一実施形態を図１～図１０にしたがって説明する。
図１に示すように、把持装置１０は、ボディ１１と、ボディ１１に支持された複数の指部材２０と、ボディ１１に支持された操作部材３３とを、備える。
An embodiment of a gripping device will be described below with reference to FIGS. 1 to 10.
As shown in FIG. 1, the gripping device 10 includes a body 11, a plurality of finger members 20 supported by the body 11, and an operation member 33 supported by the body 11.
図２に示すように、ボディ１１は、上に向けて開口するボディ本体１２と、ボディ本体１２を閉塞するカバー１７と、を備える。ボディ本体１２は、円盤状の底部１３と、底部１３の周縁から立設された周壁１４とを備える。底部１３の中央には底側円孔１３ａが貫通している。底部１３の上面には、底側円孔１３ａに繋がるガイド軸用案内溝１３ｂが凹設されている。ガイド軸用案内溝１３ｂの長手は直線状に延びる。 As shown in FIG. 2, the body 11 includes a body main body 12 that opens upward, and a cover 17 that closes the body main body 12. The main body 12 includes a disc-shaped bottom 13 and a peripheral wall 14 standing from the periphery of the bottom 13. A bottom circular hole 13a passes through the center of the bottom portion 13. The upper surface of the bottom portion 13 is provided with a guide groove 13b for a guide shaft connected to the bottom circular hole 13a. The length of the guide shaft guide groove 13b extends linearly.
また、図２又は図８に示すように、底部１３の上面には、底側円孔１３ａに繋がるとともに、底側円孔１３ａを挟む一対の連結軸用案内溝１３ｃが凹設されている。一対の連結軸用案内溝１３ｃの長手は直線状に延びる。また、一対の連結軸用案内溝１３ｃの中心軸線は同一直線上に位置している。ガイド軸用案内溝１３ｂの長手が延びる方向を第１方向Ｘとし、連結軸用案内溝１３ｃの長手が延びる方向を第２方向Ｙとする。第１方向Ｘと第２方向Ｙは直交する。 Further, as shown in FIG. 2 or FIG. 8, a pair of connecting shaft guide grooves 13c are recessed in the upper surface of the bottom portion 13 and are connected to the bottom circular hole 13a and sandwich the bottom circular hole 13a. The pair of connecting shaft guide grooves 13c extend linearly. Further, the central axes of the pair of connecting shaft guide grooves 13c are located on the same straight line. The direction in which the longitudinal direction of the guide shaft guide groove 13b extends is defined as a first direction X, and the direction in which the longitudinal direction of the connecting shaft guide groove 13c extends is defined as a second direction Y. The first direction X and the second direction Y are orthogonal.
周壁１４の上端面は、４本の指部材２０が載置される平坦面状の載置面１５である。なお、第１方向Ｘは、載置面１５に沿って直線状に延びる方向であり、第２方向Ｙは、載置面１５に沿い、かつ第１方向Ｘに直交する方向である。載置面１５のうち、第２方向Ｙにおいてガイド軸用案内溝１３ｂを挟む位置には軸穴１５ａが設けられるとともに、第１方向Ｘにおいて連結軸用案内溝１３ｃを挟んだ各軸穴１５ａの反対側にも軸穴１５ａが設けられている。よって、載置面１５には４つの軸穴１５ａが設けられている。４つの軸穴１５ａは、ボディ本体１２の周方向へ等間隔おきに設けられている。 The upper end surface of the peripheral wall 14 is a flat mounting surface 15 on which the four finger members 20 are mounted. Note that the first direction X is a direction extending linearly along the mounting surface 15, and the second direction Y is a direction extending along the mounting surface 15 and orthogonal to the first direction On the mounting surface 15, shaft holes 15a are provided at positions sandwiching the guide shaft guide groove 13b in the second direction Y, and shaft holes 15a are provided at positions sandwiching the guide shaft guide groove 13b in the first direction X. A shaft hole 15a is also provided on the opposite side. Therefore, the mounting surface 15 is provided with four shaft holes 15a. The four shaft holes 15a are provided at equal intervals in the circumferential direction of the main body 12.
周壁１４の周方向における一部分には、操作部材３３が挿通される矩形状の挿通孔１４ａが設けられている。また、周壁１４の内面のうち、周壁１４の周方向に沿った挿通孔１４ａの両端にはガイド面１４ｄが設けられている。ガイド面１４ｄは、挿通孔１４ａの両端から第１方向Ｘに沿って底側円孔１３ａに向けて平坦面状に延びる。ガイド面１４ｄは、第２方向Ｙにおいてガイド軸用案内溝１３ｂを挟む。ガイド面１４ｄには、周壁１４の周方向に沿って凹む規制凹部１４ｃが設けられている。 A rectangular insertion hole 14a through which the operating member 33 is inserted is provided in a portion of the peripheral wall 14 in the circumferential direction. Furthermore, guide surfaces 14d are provided on the inner surface of the peripheral wall 14 at both ends of the insertion hole 14a along the circumferential direction of the peripheral wall 14. The guide surface 14d extends in the shape of a flat surface from both ends of the insertion hole 14a along the first direction X toward the bottom circular hole 13a. The guide surfaces 14d sandwich the guide shaft guide groove 13b in the second direction Y. A regulating recess 14c recessed along the circumferential direction of the peripheral wall 14 is provided in the guide surface 14d.
ボディ本体１２において、底部１３の第２方向Ｙに対向する位置にはＬ形ブラケット１６ａが取り付けられている。Ｌ形ブラケット１６ａは、底部１３の下面に取り付けられるとともに、周壁１４の外周面に沿って延びる部位を有する。各Ｌ形ブラケット１６ａにおいて、周壁１４の外周面に沿って延びる部位には規制ピン１６ｂが取り付けられている。 In the main body 12, an L-shaped bracket 16a is attached to the bottom 13 at a position facing the second direction Y. The L-shaped bracket 16 a is attached to the lower surface of the bottom portion 13 and has a portion extending along the outer peripheral surface of the peripheral wall 14 . In each L-shaped bracket 16a, a regulating pin 16b is attached to a portion extending along the outer peripheral surface of the peripheral wall 14.
カバー１７は、円盤状の天板１７ａと、天板１７ａからボディ本体１２に向けて立設されたカバー壁１７ｂとを備える。カバー壁１７ｂには、４つの開口部１７ｃが周方向へ等間隔おきに設けられている。天板１７ａの中央には天側円孔１７ｄが貫通している。 The cover 17 includes a disk-shaped top plate 17a and a cover wall 17b standing upright from the top plate 17a toward the main body 12. Four openings 17c are provided in the cover wall 17b at equal intervals in the circumferential direction. A top circular hole 17d passes through the center of the top plate 17a.
図３又は図６に示すように、天板１７ａの下面には、ガイド軸用突条部１８が立設されている。ガイド軸用突条部１８の下端面には、ガイド軸用突条部１８の長手方向へ直線的に延びるガイド軸用溝１８ａが凹設されている。また、天板１７ａの下面には、天側円孔１７ｄを挟む一対の連結軸用突条部１９が立設されている。連結軸用突条部１９の下端面には、当該連結軸用突条部１９の長手方向へ直線状に延びる連結軸用溝１９ａが凹設されている。また、一対の連結軸用溝１９ａの中心軸線は同一直線上に位置している。ガイド軸用溝１８ａの長手は第１方向Ｘに延び、連結軸用溝１９ａの長手は第２方向Ｙに延びる。 As shown in FIG. 3 or 6, a guide shaft protrusion 18 is provided on the lower surface of the top plate 17a. A guide shaft groove 18 a that extends linearly in the longitudinal direction of the guide shaft protrusion 18 is recessed in the lower end surface of the guide shaft protrusion 18 . Furthermore, a pair of connecting shaft protrusions 19 are provided on the lower surface of the top plate 17a, sandwiching the top circular hole 17d. A connecting shaft groove 19a that extends linearly in the longitudinal direction of the connecting shaft protruding portion 19 is recessed in the lower end surface of the connecting shaft protruding portion 19. Further, the central axes of the pair of connecting shaft grooves 19a are located on the same straight line. The length of the guide shaft groove 18a extends in the first direction X, and the length of the connection shaft groove 19a extends in the second direction Y.
次に、操作部材３３について説明する。
図２又は図４に示すように、操作部材３３は矩形板状である。操作部材３３は、長手方向の第１端部３３ａ側がボディ１１内に配置され、長手方向の第２端部３３ｂ側がボディ１１から突出している。操作部材３３は、第１端部３３ａ側において、短手方向の中央部に軸貫通孔３４を備える。軸貫通孔３４には、ガイド軸３５の軸線方向の第１端部側が挿通されるとともに、ガイド軸３５の軸線方向の第２端部は、ガイド軸用カムフォロア３６に挿通されている。ガイド軸用カムフォロア３６は、ボディ本体１２のガイド軸用案内溝１３ｂに収容されている。ガイド軸３５は、ガイド軸用カムフォロア３６によってガイド軸用案内溝１３ｂの長手方向へ直線状に移動可能である。
Next, the operating member 33 will be explained.
As shown in FIG. 2 or 4, the operating member 33 has a rectangular plate shape. The operating member 33 has a first end 33a in the longitudinal direction arranged inside the body 11, and a second end 33b in the longitudinal direction protrudes from the body 11. The operating member 33 includes a shaft through hole 34 at the center in the lateral direction on the first end 33a side. A first end of a guide shaft 35 in the axial direction is inserted into the shaft through hole 34, and a second end of the guide shaft 35 in the axial direction is inserted into a cam follower 36 for the guide shaft. The guide shaft cam follower 36 is accommodated in the guide shaft guide groove 13b of the main body 12. The guide shaft 35 is linearly movable in the longitudinal direction of the guide shaft guide groove 13b by a guide shaft cam follower 36.
操作部材３３は、第１端部３３ａ側において、短手方向に軸貫通孔３４を挟む位置に操作軸案内溝３７を備える。操作軸案内溝３７の長手方向は、操作部材３３の短手方向に延びる。操作部材３３の短手方向は、ボディ本体１２の第２方向Ｙに一致するため、操作軸案内溝３７の長手は、第２方向Ｙに延びる。操作部材３３の短手方向の両側面には、図示しないバネによって操作部材３３から突出する方向へ付勢された規制部材３９が設けられている。 The operating member 33 includes an operating shaft guide groove 37 at a position sandwiching the shaft through hole 34 in the lateral direction on the first end 33a side. The longitudinal direction of the operating shaft guide groove 37 extends in the lateral direction of the operating member 33. Since the lateral direction of the operating member 33 corresponds to the second direction Y of the main body 12, the longitudinal direction of the operating shaft guide groove 37 extends in the second direction Y. A regulating member 39 is provided on both sides of the operating member 33 in the lateral direction and is biased by a spring (not shown) in a direction to protrude from the operating member 33 .
上記構成の操作部材３３は、第２端部３３ｂをボディ本体１２の内側から挿通孔１４ａに挿通することで、第１端部３３ａ側がボディ１１内に配置され、第２端部３３ｂ側がボディ１１から突出している。 By inserting the second end 33b into the insertion hole 14a from the inside of the body main body 12, the operating member 33 configured as described above is arranged such that the first end 33a side is arranged inside the body 11, and the second end 33b side is arranged inside the body 11. stands out from
操作部材３３の規制部材３９は、操作部材３３の短手方向の両側面に設けられている。操作部材３３が、第１方向Ｘに沿ったガイド面１４ｄよりも底側円孔１３ａ側に位置する状態からボディ本体１２の外へ向けて操作されると、規制部材３９がガイド面１４ｄに接触する。さらに操作部材３３がボディ本体１２の外へ向けて操作されると、規制部材３９はガイド面１４ｄによって没入する方向へ押圧される。すると、図示しないバネが圧縮されて規制部材３９が操作部材３３内に没入する。さらに操作部材３３がボディ本体１２の外へ向けて操作され、規制部材３９が規制凹部１４ｃに位置すると、圧縮されたバネの復帰によって規制部材３９は規制凹部１４ｃに入り込み、操作部材３３は、それ以上、ボディ本体１２の外に向けた操作が規制されるようになっている。 The regulating members 39 of the operating member 33 are provided on both sides of the operating member 33 in the lateral direction. When the operating member 33 is operated toward the outside of the main body 12 from a state located closer to the bottom circular hole 13a than the guide surface 14d along the first direction X, the regulating member 39 comes into contact with the guide surface 14d. do. When the operating member 33 is further operated toward the outside of the main body 12, the regulating member 39 is pressed in the retracting direction by the guide surface 14d. Then, a spring (not shown) is compressed, and the regulating member 39 is recessed into the operating member 33. When the operating member 33 is further operated toward the outside of the main body 12 and the regulating member 39 is located in the regulating recess 14c, the compressed spring returns to the regulating member 39 and enters the regulating recess 14c, and the operating member 33 is moved into the regulating recess 14c. As described above, the operation toward the outside of the main body 12 is restricted.
操作部材３３の下面には、位置決め突部３８が設けられている。操作部材３３がボディ本体１２の内側に向けて操作されると、位置決め突部３８が周壁１４の外面に接触することで、それ以上、操作部材３３がボディ本体１２に挿入されることが規制されるようになっている。 A positioning protrusion 38 is provided on the lower surface of the operating member 33. When the operating member 33 is operated toward the inside of the main body 12, the positioning protrusion 38 comes into contact with the outer surface of the peripheral wall 14, thereby restricting further insertion of the operating member 33 into the main body 12. It has become so.
次に、指部材２０について説明する。把持装置１０は指部材２０を４本備える。各指部材２０は、ボディ１１の側面から突出するとともに、指部材２０の先端は、ボディ１１よりも下に位置している。４本の指部材２０は、第１方向Ｘに並ぶ２本の指部材２０で１つの組を構成する。１つの組を構成する２本の指部材２０のうち一方は、操作部材３３の操作に伴って回動する能動側指部材２１であり、他方は、能動側指部材２１に連動する従動側指部材２２である。本実施形態では、能動側指部材２１と従動側指部材２２の組を２つ備える。 Next, the finger member 20 will be explained. The gripping device 10 includes four finger members 20. Each finger member 20 protrudes from the side surface of the body 11, and the tip of the finger member 20 is located below the body 11. The four finger members 20 constitute one set with two finger members 20 lined up in the first direction X. One of the two finger members 20 constituting one set is an active finger member 21 that rotates as the operating member 33 is operated, and the other is a driven finger member that moves in conjunction with the active finger member 21. This is the member 22. In this embodiment, two pairs of active side finger members 21 and driven side finger members 22 are provided.
各指部材２０は、ブーメラン状の第１指構成部材２３と、第１指構成部材２３の先端部に基端部が回動可能に支持された第２指構成部材２４と、第２指構成部材２４の先端部に基端部が回動可能に支持された第３指構成部材２５と、第１指構成部材２３に連結された指支持部材２６とを備える。第１指構成部材２３の基端部は、略矩形板状の指支持部材２６の軸線方向の一端部に着脱可能に取り付けられている。指支持部材２６の軸線方向の他端部は、ボディ本体１２の載置面１５に回動可能に支持される。 Each finger member 20 includes a boomerang-shaped first finger member 23, a second finger member 24 whose proximal end is rotatably supported by the distal end of the first finger member 23, and a second finger member 24. A third finger component 25 whose base end is rotatably supported by the distal end of the member 24 and a finger support member 26 connected to the first finger component 23 are provided. A base end portion of the first finger component member 23 is detachably attached to one end portion in the axial direction of a finger support member 26 having a substantially rectangular plate shape. The other end of the finger support member 26 in the axial direction is rotatably supported by the mounting surface 15 of the main body 12 .
第１指構成部材２３の先端部は、二股状に分岐している。第１指構成部材２３の二股に分岐した部分の内側に、第２指構成部材２４の基端部が配置されるとともに、第１指構成部材２３の二股部に第２指構成部材２４の基端部が回動可能に支持されている。 The tip of the first finger component 23 is bifurcated. The base end portion of the second finger component 24 is disposed inside the bifurcated portion of the first finger component 23, and the base end of the second finger component 24 is located at the bifurcated portion of the first finger component 23. The ends are rotatably supported.
第２指構成部材２４の先端部は、第３指構成部材２５の基端部の二股に分岐した部分の内側に配置されるとともに、第２指構成部材２４の先端部に、第３指構成部材２５の基端部が回動可能に支持されている。 The distal end of the second finger constituent member 24 is disposed inside the bifurcated portion of the proximal end of the third finger constituent member 25, and the distal end of the second finger constituent member 24 is provided with a third finger constituent member. A base end portion of the member 25 is rotatably supported.
図１０に示すように、第１指構成部材２３には、第１エアシリンダ２７が支持され、第１エアシリンダ２７のピストンロッド２７ａの先端部が第２指構成部材２４に回動可能に支持されている。また、第２指構成部材２４には、第２エアシリンダ２８が支持され、第２エアシリンダ２８のピストンロッド２８ａの先端部が第３指構成部材２５に回動可能に支持されている。 As shown in FIG. 10, a first air cylinder 27 is supported by the first finger component 23, and the tip of a piston rod 27a of the first air cylinder 27 is rotatably supported by the second finger component 24. has been done. Further, a second air cylinder 28 is supported by the second finger component 24, and a tip end of a piston rod 28a of the second air cylinder 28 is rotatably supported by the third finger component 25.
なお、第１エアシリンダ２７及び第２エアシリンダ２８には、図示しないエア供給源が配管を介して接続されている。また、第１エアシリンダ２７及び第２エアシリンダ２８には図示しない付勢バネが内蔵されている。付勢バネは、ピストンロッド２７ａ，２８ａをシリンダチューブ内に没入する方向へ付勢している。 Note that an air supply source (not shown) is connected to the first air cylinder 27 and the second air cylinder 28 via piping. Further, the first air cylinder 27 and the second air cylinder 28 have built-in biasing springs (not shown). The biasing spring biases the piston rods 27a, 28a in the direction of recessing into the cylinder tube.
そして、第１エアシリンダ２７及び第２エアシリンダ２８にエアが供給され、エア圧力が付勢バネの付勢力を上回ると、ピストンロッド２７ａ，２８ａがシリンダチューブから突出する。第１エアシリンダ２７のピストンロッド２７ａが突出すると、第２指構成部材２４が第１指構成部材２３に対し屈曲するように回動し、第２エアシリンダ２８のピストンロッド２８ａが突出すると、第３指構成部材２５が第２指構成部材２４に対し屈曲するように回動する。その結果、４本の指部材２０によって、ボディ１１の下方で物品を把持することができる。 Then, when air is supplied to the first air cylinder 27 and the second air cylinder 28 and the air pressure exceeds the biasing force of the biasing spring, the piston rods 27a and 28a protrude from the cylinder tube. When the piston rod 27a of the first air cylinder 27 protrudes, the second finger component 24 rotates to be bent relative to the first finger component 23, and when the piston rod 28a of the second air cylinder 28 protrudes, the second finger component 24 rotates to be bent relative to the first finger component 23. The three finger component 25 rotates to be bent relative to the second finger component 24. As a result, the four finger members 20 can grip the article below the body 11.
図２に示すように、各指部材２０の第１指構成部材２３の基端部には、指支持部材２６の軸線方向の一端部が着脱可能に取り付けられ、各指支持部材２６の軸線方向の他端側には、ブッシュ３１が下方から挿通されている。本実施形態では、第１指構成部材２３に取り付けられた指支持部材２６が、指部材２０の根元を構成している。各ブッシュ３１には、回動軸３２が挿通されるとともに、回動軸３２はブッシュ３１を貫通して軸穴１５ａに挿通されている。各回動軸３２は、載置面１５に対し直交している。そして、各指部材２０は、根元に挿通された回動軸３２を回動中心として回動可能にボディ１１に支持されるとともに、ボディ１１の側面から突出している。したがって、把持装置１０は、指部材２０を回動可能に支持するボディ１１を備える。 As shown in FIG. 2, one end of the finger support member 26 in the axial direction is removably attached to the base end of the first finger component 23 of each finger member 20. A bush 31 is inserted into the other end from below. In this embodiment, the finger support member 26 attached to the first finger component 23 constitutes the base of the finger member 20. A rotation shaft 32 is inserted through each bush 31, and the rotation shaft 32 passes through the bush 31 and is inserted into the shaft hole 15a. Each rotation axis 32 is perpendicular to the mounting surface 15. Each finger member 20 is supported by the body 11 so as to be rotatable about a rotation shaft 32 inserted through the base thereof, and protrudes from the side surface of the body 11. Therefore, the gripping device 10 includes a body 11 that rotatably supports the finger members 20.
各指部材２０の指支持部材２６は、有蓋筒状の指用カバー部材４０によって覆われている。指用カバー部材４０は、回動軸３２が挿通される軸孔４０ａを有する。指用カバー部材４０は、指支持部材２６における回動軸３２の周囲を、回動軸３２の中心軸と軸孔４０ａの中心軸とを一致させて上側から覆うとともに、一部がカバー１７の開口部１７ｃからボディ１１の外部に露出している。したがって、載置面１５に支持された各指部材２０は、指用カバー部材４０を介してボディ１１の側面から突出しているといえる。そして、ボディ本体１２における載置面１５には４本の指部材２０が、載置面１５に沿う方向へ回動可能に支持されている。 The finger support member 26 of each finger member 20 is covered by a finger cover member 40 in the shape of a closed cylinder. The finger cover member 40 has a shaft hole 40a through which the rotation shaft 32 is inserted. The finger cover member 40 covers the circumference of the rotation shaft 32 in the finger support member 26 from above by aligning the center axis of the rotation shaft 32 with the center axis of the shaft hole 40a, and partially covers the cover 17. It is exposed to the outside of the body 11 through the opening 17c. Therefore, it can be said that each finger member 20 supported by the mounting surface 15 protrudes from the side surface of the body 11 via the finger cover member 40. Four finger members 20 are supported on the mounting surface 15 of the main body 12 so as to be rotatable in a direction along the mounting surface 15.
図２、図７、図８又は図９に示すように、能動側指部材２１と従動側指部材２２とで構成される各組において、能動側指部材２１と従動側指部材２２はリンク機構５０によって、互いに接離する方向へ連動して回動可能に連結されている。リンク機構５０は、能動側指部材２１の根元に第１端部５３ａが回動可能に支持された第１リンク部材５３と、従動側指部材２２の根元に第１端部５４ａが回動可能に支持された第２リンク部材５４とを有する。また、リンク機構５０は、第１リンク部材５３と第２リンク部材５４を連結するリンク連結軸５６を有する。 As shown in FIG. 2, FIG. 7, FIG. 8, or FIG. 9, in each set composed of an active side finger member 21 and a driven side finger member 22, the active side finger member 21 and the driven side finger member 22 are connected by a link mechanism. 50, they are connected so as to be rotatable in interlocking directions in which they move toward and away from each other. The link mechanism 50 includes a first link member 53 having a first end 53a rotatably supported at the root of the active finger member 21, and a first end 54a rotatably supported at the root of the driven finger member 22. It has a second link member 54 supported by. Further, the link mechanism 50 includes a link connecting shaft 56 that connects the first link member 53 and the second link member 54.
能動側指部材２１及び従動側指部材２２に固定された指支持部材２６において、回動軸３２よりも軸線方向の他端寄りにはリンク用ブッシュ５１が挿通されている。リンク用ブッシュ５１には、リンク操作軸５２が回動可能に挿通されている。 In the finger support member 26 fixed to the active finger member 21 and the driven finger member 22, a link bush 51 is inserted closer to the other end in the axial direction than the rotation shaft 32. A link operating shaft 52 is rotatably inserted into the link bush 51 .
能動側指部材２１の指支持部材２６に挿通されたリンク操作軸５２は、第１リンク部材５３の第１端部５３ａに挿通され、従動側指部材２２の指支持部材２６に挿通されたリンク操作軸５２は、第２リンク部材５４の第１端部５４ａに挿通されている。なお、第１リンク部材５３及び第２リンク部材５４は細長板状である。 The link operation shaft 52 inserted through the finger support member 26 of the active side finger member 21 is inserted through the first end 53a of the first link member 53, and the link operation shaft 52 is inserted through the finger support member 26 of the driven side finger member 22. The operating shaft 52 is inserted through the first end 54a of the second link member 54. Note that the first link member 53 and the second link member 54 have an elongated plate shape.
図５に示すように、第１リンク部材５３の第２端部５３ｂ、及び第２リンク部材５４の第２端部５４ｂにはそれぞれブッシュ５５が挿通されるとともに、両方のブッシュ５５にはリンク連結軸５６が挿通されている。したがって、第１リンク部材５３の第２端部５３ｂと第２リンク部材５４の第２端部５４ｂとはリンク連結軸５６によって回動可能に連結されている。各リンク機構５０の各リンク連結軸５６は、連結軸用案内溝１３ｃに挿入された連結軸用カムフォロア６０に挿通されている。連結軸用カムフォロア６０は、連結軸用案内溝１３ｃによって第２方向Ｙへ案内される。したがって、リンク連結軸５６は、第２方向Ｙへ移動可能にボディ１１に支持されている。 As shown in FIG. 5, bushes 55 are inserted through the second end 53b of the first link member 53 and the second end 54b of the second link member 54, and both bushes 55 are connected with links. A shaft 56 is inserted therethrough. Therefore, the second end 53b of the first link member 53 and the second end 54b of the second link member 54 are rotatably connected by the link connecting shaft 56. Each link connection shaft 56 of each link mechanism 50 is inserted into a connection shaft cam follower 60 inserted into the connection shaft guide groove 13c. The connecting shaft cam follower 60 is guided in the second direction Y by the connecting shaft guide groove 13c. Therefore, the link connecting shaft 56 is supported by the body 11 so as to be movable in the second direction Y.
ボディ本体１２にはカバー１７が組付けられている。カバー１７は、当該カバー１７におけるカバー壁１７ｂの下端面がボディ本体１２の載置面１５に突き合わされている。また、カバー１７の開口部１７ｃそれぞれから指用カバー部材４０の一部が露出するとともに、各指用カバー部材４０から指部材２０が突出している。カバー１７の組付けにより、各指用カバー部材４０が上側から覆われ、指用カバー部材４０がボディ１１に組付けられている。 A cover 17 is attached to the main body 12. In the cover 17, the lower end surface of the cover wall 17b of the cover 17 is butted against the mounting surface 15 of the main body 12. Further, a part of the finger cover member 40 is exposed from each opening 17c of the cover 17, and the finger member 20 protrudes from each finger cover member 40. By assembling the cover 17, each finger cover member 40 is covered from above, and the finger cover member 40 is assembled to the body 11.
図４に示すように、ボディ本体１２のガイド軸用案内溝１３ｂと、カバー１７のガイド軸用溝１８ａとは上下方向に対向している。ガイド軸用案内溝１３ｂ内のガイド軸用カムフォロア３６に挿通されたガイド軸３５は、ガイド軸用溝１８ａに挿通されている。したがって、ガイド軸３５は、ガイド軸用案内溝１３ｂ及びガイド軸用溝１８ａによって軸線方向の両端が支持され、第１方向Ｘへの移動がガイドされるようになっている。 As shown in FIG. 4, the guide shaft guide groove 13b of the body main body 12 and the guide shaft groove 18a of the cover 17 are vertically opposed to each other. The guide shaft 35 inserted into the guide shaft cam follower 36 in the guide shaft guide groove 13b is inserted into the guide shaft groove 18a. Therefore, both ends of the guide shaft 35 in the axial direction are supported by the guide shaft guide groove 13b and the guide shaft groove 18a, and movement in the first direction X is guided.
また、図５に示すように、ボディ本体１２の連結軸用案内溝１３ｃと、カバー１７の連結軸用溝１９ａとは上下方向に対向している。連結軸用案内溝１３ｃ内の連結軸用カムフォロア６０に挿通されたリンク連結軸５６は、連結軸用溝１９ａに挿通されている。したがって、リンク連結軸５６は、連結軸用案内溝１３ｃ及び連結軸用溝１９ａによって軸線方向の両端が支持され、第１リンク部材５３及び第２リンク部材５４を水平に保ちながら第２方向Ｙへの移動がガイドされるようになっている。 Further, as shown in FIG. 5, the connecting shaft guide groove 13c of the body main body 12 and the connecting shaft groove 19a of the cover 17 face each other in the vertical direction. The link connecting shaft 56 inserted into the connecting shaft cam follower 60 in the connecting shaft guide groove 13c is inserted into the connecting shaft groove 19a. Therefore, the link connecting shaft 56 is supported at both ends in the axial direction by the connecting shaft guide groove 13c and the connecting shaft groove 19a, and moves in the second direction Y while keeping the first link member 53 and the second link member 54 horizontally. movement is now guided.
図２又は図７に示すように、各組の能動側指部材２１の指支持部材２６のリンク用ブッシュ５１、及び第１リンク部材５３の第１端部５３ａに挿通されたリンク操作軸５２は、操作部材３３の操作軸案内溝３７に挿通されている。つまり、操作部材３３の各操作軸案内溝３７には、各リンク機構５０を操作するリンク操作軸５２が挿通されるとともに、各リンク操作軸５２は、第１リンク部材５３の第１端部５３ａ及び能動側指部材２１の根元に挿通されている。 As shown in FIG. 2 or FIG. 7, the link operating shaft 52 inserted into the link bush 51 of the finger support member 26 of each set of active side finger members 21 and the first end 53a of the first link member 53 is , is inserted into the operation shaft guide groove 37 of the operation member 33. That is, a link operating shaft 52 for operating each link mechanism 50 is inserted into each operating shaft guide groove 37 of the operating member 33, and each link operating shaft 52 is inserted into the first end 53a of the first link member 53. and is inserted through the base of the active side finger member 21.
そして、操作部材３３が第１方向Ｘに移動すると、リンク操作軸５２は、操作軸案内溝３７にガイドされながら第１方向Ｘに移動する。このとき、能動側指部材２１の指支持部材２６は、回動軸３２に回動可能に支持されていることから、リンク用ブッシュ５１が、リンク操作軸５２のＸ座標に一致するように揺動する。また、リンク操作軸５２の操作軸案内溝３７における第２方向Ｙの位置であるＹ座標は、リンク操作軸５２の揺動角度により決定される。このように決定されたリンク操作軸５２のＸ座標及びＹ座標は、第１リンク部材５３の第１端部５３ａに与えられる。 Then, when the operating member 33 moves in the first direction X, the link operating shaft 52 moves in the first direction X while being guided by the operating shaft guide groove 37. At this time, since the finger support member 26 of the active side finger member 21 is rotatably supported by the rotation shaft 32, the link bush 51 is swung so as to match the X coordinate of the link operation shaft 52. move. Further, the Y coordinate, which is the position of the link operating shaft 52 in the second direction Y in the operating shaft guide groove 37, is determined by the swing angle of the link operating shaft 52. The X and Y coordinates of the link operation axis 52 determined in this way are given to the first end 53a of the first link member 53.
また、第１リンク部材５３及び第２リンク部材５４の長手方向への長さは等しい。加えて、第１リンク部材５３及び第２リンク部材５４の長手方向への長さは、能動側指部材２１のリンク用ブッシュ５１と、従動側指部材２２のリンク用ブッシュ５１との距離の半分より長い。さらに、第１リンク部材５３の第２端部５３ｂ、及び第２リンク部材５４の第２端部５４ｂは、リンク連結軸５６に対して揺動可能に連結されるとともに、第１リンク部材５３の第１端部５３ａ及び第２リンク部材５４の第１端部５４ａは、それぞれリンク用ブッシュ５１に対して揺動可能に連結されている。 Further, the lengths in the longitudinal direction of the first link member 53 and the second link member 54 are equal. In addition, the length in the longitudinal direction of the first link member 53 and the second link member 54 is half the distance between the link bush 51 of the active side finger member 21 and the link bush 51 of the driven side finger member 22. longer. Furthermore, the second end 53b of the first link member 53 and the second end 54b of the second link member 54 are swingably connected to the link connecting shaft 56, and the second end 53b of the first link member 53 and the second end 54b of the second link member The first end 53a and the first end 54a of the second link member 54 are each swingably connected to the link bush 51.
このようなリンク機構５０では、リンク用ブッシュ５１が指支持部材２６に対し固定され、回動軸３２がボディ本体１２に対し固定されているため、能動側指部材２１の揺動が従動側指部材２２の揺動にミラー反転して同期する。 In such a link mechanism 50, the link bushing 51 is fixed to the finger support member 26, and the rotation shaft 32 is fixed to the main body 12, so that the swinging of the active finger member 21 is caused by the rotation of the driven finger. The mirror is inverted and synchronized with the swinging of the member 22.
したがって、能動側指部材２１と従動側指部材２２の組は、能動側指部材２１に挿通されたリンク操作軸５２を介して操作部材３３に連結されるとともに、リンク機構５０によって能動側指部材２１と従動側指部材２２は、互いに接離する方向へミラー反転して連動するように構成されている。 Therefore, the set of the active side finger member 21 and the driven side finger member 22 is connected to the operation member 33 via the link operation shaft 52 inserted through the active side finger member 21, and the active side finger member 21 and the driven finger member 22 are configured to interlock with each other by mirror reversal in the direction of approaching and separating from each other.
図８に示すように、リンク機構５０によって連結された能動側指部材２１と従動側指部材２２の各組は、ボディ１１の中央に位置する底側円孔１３ａを第２方向Ｙに挟んだ両側に配置されている。詳細には、２本の能動側指部材２１は、ガイド軸用案内溝１３ｂを第２方向Ｙに挟んで配置されるとともに、第１方向Ｘにおいて底側円孔１３ａよりも操作部材３３側に配置されている。また、２本の従動側指部材２２は、ガイド軸用案内溝１３ｂの延長線を第２方向Ｙに挟んで配置されるとともに、第１方向Ｘにおいて底側円孔１３ａよりも外側に配置されている。 As shown in FIG. 8, each pair of the active side finger member 21 and the driven side finger member 22 connected by the link mechanism 50 is placed between the bottom side circular hole 13a located at the center of the body 11 in the second direction Y. placed on both sides. Specifically, the two active finger members 21 are arranged to sandwich the guide shaft guide groove 13b in the second direction Y, and are closer to the operating member 33 than the bottom circular hole 13a in the first direction X. It is located. Further, the two driven finger members 22 are arranged to sandwich the extension line of the guide shaft guide groove 13b in the second direction Y, and are arranged outside the bottom circular hole 13a in the first direction X. ing.
４本の指部材２０は、底側円孔１３ａの周囲に配置されている。また、操作部材３３の操作によって能動側指部材２１と従動側指部材２２をリンク機構５０を介して連動させる構成において、操作部材３３をガイドするガイド軸用案内溝１３ｂと、リンク機構５０を動作させる連結軸用案内溝１３ｃは、底側円孔１３ａを迂回し、底側円孔１３ａの周囲に配置されている。 The four finger members 20 are arranged around the bottom circular hole 13a. Further, in a configuration in which the active side finger member 21 and the driven side finger member 22 are interlocked via the link mechanism 50 by operating the operation member 33, the guide shaft guide groove 13b that guides the operation member 33 and the link mechanism 50 are operated. The connecting shaft guide groove 13c is arranged around the bottom circular hole 13a, bypassing the bottom circular hole 13a.
上記構成の把持装置１０において、能動側指部材２１と従動側指部材２２の各組では、能動側指部材２１と従動側指部材２２が互いに平行となる第１姿勢Ｓ１と、図９に示すように、能動側指部材２１の軸線と従動側指部材２２の軸線が直交する第２姿勢Ｓ２を取る。また、能動側指部材２１と従動側指部材２２の各組において、能動側指部材２１と従動側指部材２２は、第１姿勢Ｓ１と第２姿勢Ｓ２との間で任意の姿勢を取り得る。 In the gripping device 10 having the above configuration, each pair of the active side finger members 21 and the driven side finger members 22 has a first posture S1 in which the active side finger members 21 and the driven side finger members 22 are parallel to each other as shown in FIG. , a second posture S2 is taken in which the axis of the active finger member 21 and the axis of the driven finger member 22 are perpendicular to each other. Further, in each pair of the active side finger member 21 and the driven side finger member 22, the active side finger member 21 and the driven side finger member 22 can take any posture between the first posture S1 and the second posture S2. .
図８に示すように、第１姿勢Ｓ１は、規制部材３９が規制凹部１４ｃに入り込むまで操作部材３３がボディ１１に対して離れる方向へ移動したときに取られる姿勢である。第１姿勢Ｓ１では、２本の能動側指部材２１が、第２方向Ｙに一直線状に並ぶとともに、２本の従動側指部材２２が、第２方向Ｙに一直線状に並ぶ。第１姿勢Ｓ１では、２本の能動側指部材２１の第３指構成部材２５同士は最も離れた位置に配置され、２本の従動側指部材２２の第３指構成部材２５同士も最も離れた位置に配置される。また、第１姿勢Ｓ１では、上記したように能動側指部材２１と従動側指部材２２が互いに平行になる。したがって、第１姿勢Ｓ１では、第１方向Ｘと第２方向Ｙの寸法が異なる物品を把持するのに適した位置である。 As shown in FIG. 8, the first posture S1 is a posture taken when the operating member 33 moves away from the body 11 until the regulating member 39 enters the regulating recess 14c. In the first posture S1, the two active side finger members 21 are lined up in a straight line in the second direction Y, and the two driven side finger members 22 are lined up in a straight line in the second direction Y. In the first posture S1, the third finger constituent members 25 of the two active side finger members 21 are arranged at the farthest positions, and the third finger constituent members 25 of the two driven side finger members 22 are also farthest apart from each other. is placed in the correct position. Further, in the first posture S1, the active side finger member 21 and the driven side finger member 22 are parallel to each other as described above. Therefore, the first posture S1 is a position suitable for gripping an article having different dimensions in the first direction X and the second direction Y.
第１姿勢Ｓ１では、操作部材３３のガイド軸３５は、ガイド軸用案内溝１３ｂ及びガイド軸用溝１８ａにおけるボディ１１の外周寄りに位置している。また、第１姿勢Ｓ１では、リンク連結軸５６は、連結軸用案内溝１３ｃ及び連結軸用溝１９ａにおけるボディ１１の中央寄りに位置している。第１姿勢Ｓ１では、能動側指部材２１に挿通されたリンク操作軸５２は、ボディ１１の外周寄りに位置し、従動側指部材２２に挿通されたリンク操作軸５２も、ボディ１１の外周寄りに位置している。 In the first attitude S1, the guide shaft 35 of the operating member 33 is located near the outer periphery of the body 11 in the guide shaft guide groove 13b and the guide shaft groove 18a. Further, in the first posture S1, the link connecting shaft 56 is located near the center of the body 11 in the connecting shaft guide groove 13c and the connecting shaft groove 19a. In the first posture S1, the link operation shaft 52 inserted through the active side finger member 21 is located near the outer periphery of the body 11, and the link operation shaft 52 inserted through the driven side finger member 22 is also located near the outer periphery of the body 11. It is located in
図４又は図９に示すように、第２姿勢Ｓ２は、規制部材３９が規制凹部１４ｃに係合して、操作部材３３の戻り側への移動が規制されるとともに、位置決め突部３８がボディ１１に接触して、それ以上の移動が規制されるときに取られる姿勢である。第２姿勢Ｓ２では、２本の能動側指部材２１の軸線の延長線が、互いに交差し、４本の指部材２０がボディ１１の周方向にほぼ等間隔おきに配置される。つまり、第２姿勢Ｓ２では、４つの第３指構成部材２５がボディ１１の周方向に等間隔おきに配置される。したがって、第２姿勢Ｓ２では、第１姿勢Ｓ１のときに把持する物品よりも短い物品を把持するのに適した位置である。 As shown in FIG. 4 or FIG. 9, in the second posture S2, the regulating member 39 engages with the regulating recess 14c to regulate the movement of the operating member 33 toward the return side, and the positioning protrusion 38 11 and further movement is restricted. In the second posture S2, the extension lines of the axes of the two active side finger members 21 intersect with each other, and the four finger members 20 are arranged at approximately equal intervals in the circumferential direction of the body 11. That is, in the second posture S2, the four third finger constituent members 25 are arranged at equal intervals in the circumferential direction of the body 11. Therefore, the second posture S2 is a position suitable for gripping an article that is shorter than the article gripped in the first posture S1.
第２姿勢Ｓ２では、操作部材３３のガイド軸３５は、第１姿勢Ｓ１のときよりも、ガイド軸用案内溝１３ｂ及びガイド軸用溝１８ａにおけるボディ１１の中央寄りに位置している。また、第２姿勢Ｓ２では、リンク連結軸５６は、第１姿勢Ｓ１のときよりも、連結軸用案内溝１３ｃ及び連結軸用溝１９ａにおけるボディ１１の外寄りに位置している。第２姿勢Ｓ２では、能動側指部材２１に挿通されたリンク操作軸５２は、第１姿勢Ｓ１のときよりもボディ１１の中央寄りに位置し、従動側指部材２２に挿通されたリンク操作軸５２も、第１姿勢Ｓ１のときよりもボディ１１の中央寄りに位置している。 In the second attitude S2, the guide shaft 35 of the operating member 33 is located closer to the center of the body 11 in the guide shaft guide groove 13b and the guide shaft groove 18a than in the first attitude S1. Furthermore, in the second attitude S2, the link connecting shaft 56 is located closer to the outside of the body 11 in the connecting shaft guide groove 13c and the connecting shaft groove 19a than in the first attitude S1. In the second attitude S2, the link operating shaft 52 inserted through the active finger member 21 is located closer to the center of the body 11 than in the first attitude S1, and the link operating shaft 52 inserted through the driven finger member 22 is positioned closer to the center of the body 11 than in the first attitude S1. 52 is also located closer to the center of the body 11 than in the first posture S1.
操作部材３３は、組を構成する能動側指部材２１と従動側指部材２２との間ではなく、異なる組の能動側指部材２１同士の間に位置している。つまり、操作部材３３は、ボディ１１の側面のうち、能動側指部材２１と従動側指部材２２に挟まれていない部分に配置されている。 The operating member 33 is located not between the active finger members 21 and the driven finger members 22 that constitute a pair, but between the active finger members 21 of different pairs. That is, the operating member 33 is disposed on the side surface of the body 11 in a portion that is not sandwiched between the active finger member 21 and the driven finger member 22.
異なる組の能動側指部材２１同士は、第２姿勢Ｓ２のとき最も近づくが、能動側指部材２１同士の離間距離は、第１姿勢Ｓ１のときに、組を構成する能動側指部材２１と従動側指部材２２の離間距離よりも長い。つまり、操作部材３３は、ボディ１１の周方向に隣り合う指部材２０同士の位置取りに干渉しない位置に配置されている。異なる組の能動側指部材２１と従動側指部材２２とは、第３指構成部材２５が対向状態となっており、各第３指構成部材２５は中心に向かっている。 The active side finger members 21 of different groups are closest to each other when in the second posture S2, but the separation distance between the active side finger members 21 is the same as that of the active side finger members 21 constituting the group when in the first posture S1. The distance is longer than the distance between the driven finger members 22. That is, the operating member 33 is arranged at a position that does not interfere with the positioning of the finger members 20 adjacent to each other in the circumferential direction of the body 11. The active side finger member 21 and the driven side finger member 22 of different sets have their third finger constituent members 25 facing each other, and each third finger constituent member 25 faces toward the center.
図４又は図５に示すように、カバー１７の天側円孔１７ｄと、ボディ本体１２の底側円孔１３ａとが上下方向に重なり合っている。天側円孔１７ｄと底側円孔１３ａには、下側から第１取付ブラケット７１が挿通されている。第１取付ブラケット７１は、円盤状の第１フランジ７２と、第１フランジ７２から円筒状に立設された第１筒部７３とを備える。第１取付ブラケット７１は、第１筒部７３の軸線方向に貫通するカメラ取付孔７４を備え、カメラ取付孔７４内にはカメラ７５が固定されている。 As shown in FIG. 4 or 5, the top circular hole 17d of the cover 17 and the bottom circular hole 13a of the main body 12 overlap in the vertical direction. A first mounting bracket 71 is inserted from below into the top circular hole 17d and the bottom circular hole 13a. The first mounting bracket 71 includes a disk-shaped first flange 72 and a first cylindrical portion 73 erected from the first flange 72 in a cylindrical shape. The first mounting bracket 71 includes a camera mounting hole 74 passing through the first cylindrical portion 73 in the axial direction, and a camera 75 is fixed in the camera mounting hole 74.
図４に示すように、カメラ７５の固定された第１取付ブラケット７１は、第１フランジ７２がボディ本体１２における底部１３の下面に固定されることでボディ本体１２に取り付けられている。第１筒部７３は、ボディ本体１２の底側円孔１３ａ及びカバー１７の天側円孔１７ｄを貫通して天板１７ａから外部に突出している。天板１７ａから突出した第１筒部７３には、第２取付ブラケット７７が取り付けられている。 As shown in FIG. 4, the first mounting bracket 71 to which the camera 75 is fixed is attached to the main body 12 by having the first flange 72 fixed to the lower surface of the bottom 13 of the main body 12. The first cylindrical portion 73 passes through the bottom circular hole 13a of the main body 12 and the top circular hole 17d of the cover 17, and projects outward from the top plate 17a. A second mounting bracket 77 is attached to the first cylindrical portion 73 protruding from the top plate 17a.
図２に示すように、第２取付ブラケット７７は、円盤状の第２フランジ７８と、第２フランジ７８から円筒状に立設された第２筒部７９とを備える。第２筒部７９の内径は、第１筒部７３の外径より大きく、第２筒部７９の内側に第１筒部７３が挿通されている。そして、第２筒部７９の外側から第２筒部７９を貫通させた固定ネジ８０を、第２フランジ７８の外面に押し付けることで、第１取付ブラケット７１と第２取付ブラケット７７とが連結されている。 As shown in FIG. 2, the second mounting bracket 77 includes a disk-shaped second flange 78 and a second cylindrical portion 79 erected from the second flange 78 in a cylindrical shape. The inner diameter of the second cylindrical portion 79 is larger than the outer diameter of the first cylindrical portion 73, and the first cylindrical portion 73 is inserted inside the second cylindrical portion 79. Then, the first mounting bracket 71 and the second mounting bracket 77 are connected by pressing the fixing screw 80 passed through the second cylindrical part 79 from the outside of the second cylindrical part 79 against the outer surface of the second flange 78. ing.
第２取付ブラケット７７の第２フランジ７８は、図示しない搬送装置の下面に固定される。第２フランジ７８が搬送装置の下面に固定されることで、把持装置１０が搬送装置に固定されている。 The second flange 78 of the second mounting bracket 77 is fixed to the lower surface of the transport device (not shown). By fixing the second flange 78 to the lower surface of the conveying device, the gripping device 10 is fixed to the conveying device.
把持装置１０において、カメラ取付孔７４に固定されたカメラ７５は、第１取付ブラケット７１から下方に露出している。なお、第１取付ブラケット７１の第１筒部７３は、カバー１７の天側円孔１７ｄとボディ本体１２の底側円孔１３ａに挿通されている。天側円孔１７ｄは、カバー１７の中央に配置され、底側円孔１３ａはボディ本体１２の中央に配置されている。このため、第１筒部７３のカメラ取付孔７４に固定されたカメラ７５は、ボディ１１の中央に配置されている。 In the gripping device 10, the camera 75 fixed to the camera mounting hole 74 is exposed downward from the first mounting bracket 71. The first cylindrical portion 73 of the first mounting bracket 71 is inserted into the top circular hole 17d of the cover 17 and the bottom circular hole 13a of the main body 12. The top circular hole 17d is located at the center of the cover 17, and the bottom circular hole 13a is located at the center of the main body 12. Therefore, the camera 75 fixed to the camera mounting hole 74 of the first cylindrical portion 73 is arranged at the center of the body 11.
次に、把持装置１０の作用を動作とともに説明する。
まず、図８に示すように、把持装置１０は、第１姿勢Ｓ１に位置している。把持装置１０を第２姿勢Ｓ２に変更する場合は、操作部材３３がボディ１１に向けて押し込まれるように操作されると、ガイド軸用案内溝１３ｂに支持されたガイド軸用カムフォロア３６によって、ガイド軸３５が第１方向Ｘへ直線的に移動するように案内される。
Next, the function of the gripping device 10 will be explained together with its operation.
First, as shown in FIG. 8, the gripping device 10 is located in a first posture S1. When changing the gripping device 10 to the second posture S2, when the operating member 33 is operated so as to be pushed toward the body 11, the guide shaft cam follower 36 supported in the guide shaft guide groove 13b The shaft 35 is guided to move linearly in the first direction X.
操作部材３３がボディ１１の中央に向けて押し込まれると、図２に示す操作軸案内溝３７によって２本のリンク操作軸５２それぞれが第２方向Ｙに沿ってボディ１１の外側に向けて移動するように案内される。すると、リンク操作軸５２が挿通された各能動側指部材２１の基端部は、ボディ１１の中央に向かうように回動軸３２を回動中心として回動する。 When the operating member 33 is pushed toward the center of the body 11, each of the two link operating shafts 52 moves toward the outside of the body 11 along the second direction Y by the operating shaft guide groove 37 shown in FIG. You will be guided as follows. Then, the base end portion of each active finger member 21 through which the link operation shaft 52 is inserted rotates about the rotation shaft 32 toward the center of the body 11.
同時に、リンク操作軸５２が挿通された第１リンク部材５３は、リンク操作軸５２を回動中心として回動し、第２端部５３ｂがボディ１１の外周側に向けて押し出される。このとき、各第２端部５３ｂに挿通されたリンク連結軸５６は、連結軸用案内溝１３ｃ及び連結軸用カムフォロア６０によって第２方向Ｙに沿って直線的に外側に向けて移動するように案内される。 At the same time, the first link member 53 into which the link operating shaft 52 is inserted rotates about the link operating shaft 52, and the second end portion 53b is pushed out toward the outer circumferential side of the body 11. At this time, the link connecting shaft 56 inserted into each second end 53b is moved linearly outward along the second direction Y by the connecting shaft guide groove 13c and the connecting shaft cam follower 60. You will be guided.
その結果、リンク連結軸５６に連結された第２リンク部材５４の第２端部５４ｂは、ボディ１１の外側に向けて押し出される。すると、第２リンク部材５４の第１端部５４ａがボディ１１の中央に近づくように第２リンク部材５４がリンク操作軸５２を回動中心として回動する。このとき、第２リンク部材５４に挿通されたリンク操作軸５２もボディ１１の中央に向けて移動する。 As a result, the second end 54b of the second link member 54 connected to the link connecting shaft 56 is pushed out toward the outside of the body 11. Then, the second link member 54 rotates about the link operation shaft 52 so that the first end 54a of the second link member 54 approaches the center of the body 11. At this time, the link operation shaft 52 inserted through the second link member 54 also moves toward the center of the body 11.
その結果、第２リンク部材５４の第１端部５４ａに連結された従動側指部材２２においては、根元がボディ１１の中央に向けて引っ張られる。よって、組を構成する能動側指部材２１と従動側指部材２２は、ミラー反転して互いに接近するように回動軸３２を中心として同期して回動する。 As a result, the base of the driven finger member 22 connected to the first end 54 a of the second link member 54 is pulled toward the center of the body 11 . Therefore, the active side finger member 21 and the driven side finger member 22 constituting the set rotate synchronously about the rotation shaft 32 so as to mirror each other and approach each other.
そして、操作部材３３の位置決め突部３８がボディ１１の外周面に接触し、操作部材３３のそれ以上の進行が抑制されると、リンク操作軸５２の移動が規制されてリンク機構５０の移動が停止する。すると、リンク連結軸５６の移動が規制され、指部材２０の回動が停止し、第２姿勢Ｓ２に配置される。 When the positioning protrusion 38 of the operating member 33 comes into contact with the outer peripheral surface of the body 11 and further movement of the operating member 33 is suppressed, the movement of the link operating shaft 52 is restricted and the movement of the link mechanism 50 is restricted. Stop. Then, the movement of the link connecting shaft 56 is restricted, the rotation of the finger member 20 is stopped, and the finger member 20 is placed in the second attitude S2.
把持装置１０を第２姿勢Ｓ２から、図９に示す第１姿勢Ｓ１に変更する場合は、操作部材３３をボディ１１から離れる方向へ移動させると、ガイド軸用案内溝１３ｂに支持されたガイド軸用カムフォロア３６によって、ガイド軸３５がボディ１１の外に向けて第１方向Ｘへ直線的に移動するように案内される。 When changing the gripping device 10 from the second attitude S2 to the first attitude S1 shown in FIG. The guide shaft 35 is guided to move linearly in the first direction X toward the outside of the body 11 by the cam follower 36 .
操作部材３３をボディ１１から離れる方向へ移動させると、操作軸案内溝３７によって２本のリンク操作軸５２それぞれが第２方向Ｙに沿ってボディ１１の内側に向けて移動するように案内される。すると、リンク操作軸５２が挿通された各能動側指部材２１の根元がボディ１１の中央から離れるように、各能動側指部材２１は回動軸３２を回動中心として回動する。 When the operating member 33 is moved in a direction away from the body 11, the two link operating shafts 52 are each guided by the operating shaft guide groove 37 to move toward the inside of the body 11 along the second direction Y. . Then, each active-side finger member 21 rotates about the rotation axis 32 so that the root of each active-side finger member 21 through which the link operation shaft 52 is inserted is separated from the center of the body 11.
同時に、リンク操作軸５２が挿通された第１リンク部材５３は、リンク操作軸５２を回動中心として回動し、第２端部５３ｂがボディ１１の内側に向けて移動する。このとき、各第２端部５３ｂに挿通されたリンク連結軸５６は、連結軸用案内溝１３ｃ及び連結軸用カムフォロア６０によって第２方向Ｙに沿って直線的にボディ１１の内側に向けて移動する。 At the same time, the first link member 53 into which the link operating shaft 52 is inserted rotates about the link operating shaft 52, and the second end portion 53b moves toward the inside of the body 11. At this time, the link connecting shaft 56 inserted into each second end 53b is moved linearly toward the inside of the body 11 along the second direction Y by the connecting shaft guide groove 13c and the connecting shaft cam follower 60. do.
その結果、リンク連結軸５６に連結された第２リンク部材５４の第２端部５４ｂは、ボディ１１の内側に向けて押し出される。すると、第２リンク部材５４の第１端部５４ａがボディ１１の外に向かうように第２リンク部材５４がリンク連結軸５６を回動中心として回動する。このとき、第２リンク部材５４に挿通されたリンク操作軸５２もボディ１１の外に向けて移動する。 As a result, the second end 54b of the second link member 54 connected to the link connecting shaft 56 is pushed out toward the inside of the body 11. Then, the second link member 54 rotates about the link connection shaft 56 so that the first end 54a of the second link member 54 faces outside of the body 11. At this time, the link operation shaft 52 inserted through the second link member 54 also moves toward the outside of the body 11.
その結果、第２リンク部材５４の第１端部５４ａに連結された従動側指部材２２においては、根元がボディ１１の内側から外側へ向かうように移動する。よって、組を構成する能動側指部材２１と従動側指部材２２は、ミラー反転して互いに接近するように回動軸３２を中心として同期して回動する。 As a result, the base of the driven finger member 22 connected to the first end 54a of the second link member 54 moves from the inside of the body 11 toward the outside. Therefore, the active side finger member 21 and the driven side finger member 22 constituting the set rotate synchronously about the rotation shaft 32 so as to mirror each other and approach each other.
そして、操作部材３３の規制部材３９が、周壁１４における規制凹部１４ｃに入り込むと、リンク操作軸５２の移動が規制されてリンク機構５０の移動が停止する。すると、リンク連結軸５６の移動が規制され、指部材２０の回動が停止し、第１姿勢Ｓ１に配置される。なお、規制ピン１６ｂに能動側指部材２１と従動側指部材２２が接触することで、それ以上の能動側指部材２１と従動側指部材２２の回動が規制される。 When the regulating member 39 of the operating member 33 enters the regulating recess 14c in the peripheral wall 14, the movement of the link operating shaft 52 is regulated and the movement of the link mechanism 50 is stopped. Then, the movement of the link connecting shaft 56 is restricted, the rotation of the finger member 20 is stopped, and the finger member 20 is placed in the first attitude S1. Note that when the active side finger member 21 and the driven side finger member 22 come into contact with the restriction pin 16b, further rotation of the active side finger member 21 and the driven side finger member 22 is restricted.
図１０に示すように、第２指構成部材２４が第１指構成部材２３に対し屈曲するように回動し、第３指構成部材２５が第２指構成部材２４に対し屈曲するように回動した状態で、把持装置１０は、４本の指部材２０によって、ボディ１１の下方で物品を把持することができる。 As shown in FIG. 10, the second finger component 24 is rotated to be bent relative to the first finger component 23, and the third finger component 25 is rotated to be bent relative to the second finger component 24. In the moved state, the gripping device 10 is able to grip an article below the body 11 by means of the four finger members 20.
上記実施形態によれば、以下のような効果を得ることができる。
（１）操作部材３３が操作されると、操作軸案内溝３７が第１方向Ｘへ移動するため、当該操作軸案内溝３７に挿通されたリンク操作軸５２が第２方向Ｙへ移動する。リンク操作軸５２の移動に伴い能動側指部材２１が回動するとともに、第１リンク部材５３も回動し、第１リンク部材５３にリンク連結軸５６を介して連結された第２リンク部材５４が第１リンク部材５３に対し接離する方向へ回動するため、第２リンク部材５４に連結された従動側指部材２２も回動する。その結果、操作部材３３の操作によって能動側指部材２１に連動して従動側指部材２２を回動させ、対となる指部材２０の位置変更ができる。つまり、操作部材３３の操作によって、能動側指部材２１と従動側指部材２２の２本の指部材２０を同期させて位置を変更でき、指部材２０の位置変更を手動で１本ずつ行う場合と比べると指部材２０の位置変更時間を短縮できる。
According to the above embodiment, the following effects can be obtained.
(1) When the operating member 33 is operated, the operating shaft guide groove 37 moves in the first direction X, so the link operating shaft 52 inserted into the operating shaft guide groove 37 moves in the second direction Y. As the link operation shaft 52 moves, the active finger member 21 rotates, and the first link member 53 also rotates, and the second link member 54 is connected to the first link member 53 via the link connection shaft 56. Since the finger member 22 rotates toward and away from the first link member 53, the driven finger member 22 connected to the second link member 54 also rotates. As a result, by operating the operating member 33, the driven finger member 22 can be rotated in conjunction with the active finger member 21, and the position of the paired finger member 20 can be changed. In other words, when the two finger members 20, the active side finger member 21 and the driven side finger member 22, can be synchronized and their positions changed by operating the operation member 33, and the positions of the finger members 20 are manually changed one by one. Compared to this, the time required to change the position of the finger member 20 can be shortened.
（２）操作部材３３は、ボディ１１の側面のうち、組となる能動側指部材２１と従動側指部材２２で挟まれない位置に配置されている。このため、操作部材３３の操作の際に、回動する能動側指部材２１及び従動側指部材２２が操作者の手に当たることがなく、操作部材３３の操作が行いやすい。 (2) The operating member 33 is disposed on the side surface of the body 11 at a position where it is not sandwiched between the active finger member 21 and the driven finger member 22 that form a pair. Therefore, when operating the operating member 33, the rotating active side finger member 21 and driven side finger member 22 do not hit the operator's hand, making it easier to operate the operating member 33.
（３）操作部材３３は、ボディ１１に対し第１方向Ｘへ移動可能にボディ１１に支持されている。例えば、操作部材３３をボディ１１の側面に沿って操作する場合と比べると、操作部材３３の操作が行いやすい。 (3) The operating member 33 is supported by the body 11 so as to be movable in the first direction X relative to the body 11. For example, compared to operating the operating member 33 along the side surface of the body 11, the operating member 33 is easier to operate.
（４）ガイド軸用案内溝１３ｂ及び連結軸用案内溝１３ｃは、底側円孔１３ａを迂回した外側に設けられ、リンク機構５０も底側円孔１３ａを迂回した外側に配置されている。このため、リンク機構５０で連結されるとともに、操作部材３３で操作される指部材２０も底側円孔１３ａを迂回した外側に配置されている。したがって、ボディ１１の中央に、指部材２０を動作させるための部品が配置されず、カメラ７５を配置できる。そして、ボディ１１の中央にカメラ７５を配置できるため、カメラ７５に接続される配線もボディ１１の中央に配置でき、ボディ１１の外側に取り回す必要がない。したがって、把持装置１０が回転しても配線が捻れることを抑制できる。 (4) The guide shaft guide groove 13b and the connecting shaft guide groove 13c are provided on the outside, bypassing the bottom circular hole 13a, and the link mechanism 50 is also provided on the outside, bypassing the bottom circular hole 13a. For this reason, the finger member 20 connected by the link mechanism 50 and operated by the operating member 33 is also arranged outside, bypassing the bottom circular hole 13a. Therefore, the camera 75 can be placed in the center of the body 11 without any parts for operating the finger member 20. Since the camera 75 can be placed in the center of the body 11, the wiring connected to the camera 75 can also be placed in the center of the body 11, and does not need to be routed outside the body 11. Therefore, even if the gripping device 10 rotates, twisting of the wiring can be suppressed.
（５）ボディ１１を構成するカバー１７には、ガイド軸用案内溝１３ｂに対向するガイド軸用溝１８ａが設けられ、ガイド軸用案内溝１３ｂ及びガイド軸用溝１８ａにより、ガイド軸３５の軸線方向の両端部を第１方向Ｘへ直線的に移動させることができる。よって、操作部材３３を第１方向Ｘへ正確に案内できる。 (5) The cover 17 constituting the body 11 is provided with a guide shaft groove 18a that faces the guide shaft guide groove 13b. Both ends of the direction can be moved linearly in the first direction X. Therefore, the operating member 33 can be accurately guided in the first direction X.
（６）カバー１７には、連結軸用案内溝１３ｃに対向する連結軸用溝１９ａが設けられ、連結軸用案内溝１３ｃ及び連結軸用溝１９ａにより、リンク連結軸５６の軸線方向の両端部を第２方向Ｙへ直線的に移動させることができる。よって、リンク機構５０をスムーズに動作させることができる。 (6) The cover 17 is provided with a connecting shaft groove 19a that faces the connecting shaft guide groove 13c, and the connecting shaft guide groove 13c and the connecting shaft groove 19a allow the link connecting shaft 56 to be formed at both ends in the axial direction. can be moved linearly in the second direction Y. Therefore, the link mechanism 50 can be operated smoothly.
本実施形態は、以下のように変更して実施することができる。本実施形態及び以下の変更例は、技術的に矛盾しない範囲で互いに組み合わせて実施することができる。
○ 図１１又は図１２に示すように、把持装置１０は、能動側指部材２１と従動側指部材２２を１組だけ備えていてもよい。この場合、能動側指部材２１と従動側指部材２２の組は、ガイド軸用案内溝１３ｂを第２方向Ｙに挟んだ一方側に配置され、他方側には１本の指部材２０が回動不能に支持されている。回動不能の指部材２０は、第１指構成部材２３に固定された指支持部材２６を、取付部材８１によって載置面１５に取り付けることでボディ本体１２に回動不能に支持されている。
This embodiment can be modified and implemented as follows. This embodiment and the following modified examples can be implemented in combination with each other within a technically consistent range.
As shown in FIG. 11 or 12, the gripping device 10 may include only one pair of active finger members 21 and driven finger members 22. In this case, the set of the active side finger member 21 and the driven side finger member 22 is arranged on one side of the guide shaft guide groove 13b in the second direction Y, and one finger member 20 is placed on the other side. Supported immobile. The non-rotatable finger member 20 is non-rotatably supported by the main body 12 by attaching the finger support member 26 fixed to the first finger component 23 to the mounting surface 15 using the mounting member 81.
操作部材３３の片方の操作軸案内溝３７には、能動側指部材２１の根元を構成する指支持部材２６、及び第１リンク部材５３の第１端部５３ａに挿通されたリンク操作軸５２が挿通されている。 In one operation shaft guide groove 37 of the operation member 33, the finger support member 26 forming the root of the active side finger member 21 and the link operation shaft 52 inserted through the first end 53a of the first link member 53 are inserted. It is inserted.
図１２に示すように、第１姿勢Ｓ１は、規制部材３９が規制凹部１４ｃに入り込むまで操作部材３３がボディ１１に対して離れる方向へ移動したときに取られる姿勢である。第１姿勢Ｓ１では、能動側指部材２１及び従動側指部材２２の軸線が、第２方向Ｙへ直線状に延びるとともに、回動不能の指部材２０の軸線も第２方向Ｙへ直線状に延びる。第１姿勢Ｓ１では、能動側指部材２１と従動側指部材２２は互いに平行になる。したがって、第１姿勢Ｓ１では、第１方向Ｘと第２方向Ｙの寸法が異なる物品を把持するのに適した位置である。 As shown in FIG. 12, the first posture S1 is a posture taken when the operating member 33 moves away from the body 11 until the regulating member 39 enters the regulating recess 14c. In the first posture S1, the axes of the active finger member 21 and the driven finger member 22 extend linearly in the second direction Y, and the axis of the non-rotatable finger member 20 also extends linearly in the second direction Y. Extends. In the first posture S1, the active finger member 21 and the driven finger member 22 are parallel to each other. Therefore, the first posture S1 is a position suitable for gripping an article having different dimensions in the first direction X and the second direction Y.
第１姿勢Ｓ１では、操作部材３３のガイド軸３５は、ガイド軸用案内溝１３ｂ及びガイド軸用溝１８ａにおけるボディ１１の外周寄りに位置している。また、第１姿勢Ｓ１では、リンク連結軸５６は、連結軸用案内溝１３ｃ及び連結軸用溝１９ａにおけるボディ１１の内側寄りに位置している。第１姿勢Ｓ１では、能動側指部材２１に挿通されたリンク操作軸５２は、ボディ１１の外側寄りに位置し、従動側指部材２２に挿通されたリンク操作軸５２も、ボディ１１の外側寄りに位置している。 In the first attitude S1, the guide shaft 35 of the operating member 33 is located near the outer periphery of the body 11 in the guide shaft guide groove 13b and the guide shaft groove 18a. Further, in the first attitude S1, the link connecting shaft 56 is located closer to the inside of the body 11 in the connecting shaft guide groove 13c and the connecting shaft groove 19a. In the first posture S1, the link operation shaft 52 inserted through the active side finger member 21 is located toward the outside of the body 11, and the link operation shaft 52 inserted through the driven side finger member 22 is also positioned toward the outside of the body 11. It is located in
図１１に示すように、第２姿勢Ｓ２は、規制部材３９が規制凹部１４ｃに係合して戻り側への移動が抑制されるとともに、位置決め突部３８がボディ１１に接触してそれ以上の移動が規制されるときに取られる姿勢である。第２姿勢Ｓ２では、能動側指部材２１と従動側指部材２２の軸線の延長線が直交するように配置され、回動不能の指部材２０の軸線は第２方向Ｙに直線状に延びる。このため、３本の指部材２０は上から見た平面視でＹ状に配置される。したがって、第２姿勢Ｓ２では、第１姿勢Ｓ１のときに把持する物品よりも短い物品を把持するのに適した位置である。 As shown in FIG. 11, in the second posture S2, the regulating member 39 engages with the regulating recess 14c to suppress movement toward the return side, and the positioning protrusion 38 contacts the body 11 to prevent further movement. This is the posture taken when movement is restricted. In the second attitude S2, the extension lines of the axes of the active finger member 21 and the driven finger member 22 are arranged to be perpendicular to each other, and the axis of the non-rotatable finger member 20 extends linearly in the second direction Y. Therefore, the three finger members 20 are arranged in a Y shape when viewed from above. Therefore, the second posture S2 is a position suitable for gripping an article that is shorter than the article gripped in the first posture S1.
第２姿勢Ｓ２では、操作部材３３のガイド軸３５は、ガイド軸用案内溝１３ｂ及びガイド軸用溝１８ａにおけるボディ１１の内側寄りに位置している。また、第２姿勢Ｓ２では、リンク連結軸５６は、連結軸用案内溝１３ｃ及び連結軸用溝１９ａにおけるボディ１１の外側寄りに位置している。第２姿勢Ｓ２では、能動側指部材２１に挿通されたリンク操作軸５２は、ボディ１１の内側寄りに位置し、従動側指部材２２に挿通されたリンク操作軸５２も、ボディ１１の内側寄りに位置している。 In the second attitude S2, the guide shaft 35 of the operating member 33 is located closer to the inside of the body 11 in the guide shaft guide groove 13b and the guide shaft groove 18a. Further, in the second attitude S2, the link connecting shaft 56 is located closer to the outside of the body 11 in the connecting shaft guide groove 13c and the connecting shaft groove 19a. In the second posture S2, the link operating shaft 52 inserted through the active side finger member 21 is located closer to the inner side of the body 11, and the link operating shaft 52 inserted through the driven side finger member 22 is also located closer to the inner side of the body 11. It is located in
このように構成した場合、操作部材３３が操作されると、操作軸案内溝３７が第１方向Ｘへ移動するため、当該操作軸案内溝３７に挿通されたリンク操作軸５２が第２方向Ｙへ移動する。リンク操作軸５２の移動に伴い能動側指部材２１が回動するとともに、第１リンク部材５３も回動し、第１リンク部材５３にリンク連結軸５６を介して連結された第２リンク部材５４が第１リンク部材５３に対し接離する方向へ回動するため、第２リンク部材５４に連結された従動側指部材２２も回動する。その結果、操作部材３３の操作によって能動側指部材２１に連動して従動側指部材２２を回動させ、対となる指部材２０の位置変更ができる。つまり、操作部材３３の操作によって、能動側指部材２１と従動側指部材２２の２本の指部材２０の位置を同期して変更でき、指部材２０の位置変更を手動で１本ずつ行う場合と比べると、指部材２０の位置変更時間を短縮できる。 With this configuration, when the operating member 33 is operated, the operating shaft guide groove 37 moves in the first direction X, so the link operating shaft 52 inserted into the operating shaft guide groove 37 moves in the second direction Y. Move to. As the link operation shaft 52 moves, the active finger member 21 rotates, and the first link member 53 also rotates, and the second link member 54 is connected to the first link member 53 via the link connection shaft 56. Since the finger member 22 rotates toward and away from the first link member 53, the driven finger member 22 connected to the second link member 54 also rotates. As a result, by operating the operating member 33, the driven finger member 22 can be rotated in conjunction with the active finger member 21, and the position of the paired finger member 20 can be changed. In other words, by operating the operating member 33, the positions of the two finger members 20, the active finger member 21 and the driven finger member 22, can be changed synchronously, and the positions of the finger members 20 are manually changed one by one. Compared to this, the time required to change the position of the finger member 20 can be shortened.
○ 操作部材３３の操作は、操作者による操作でなくてもよい。把持装置１０を搬送装置の先端に取り付けて使用する場合、指部材２０の姿勢を変更するときは、搬送装置によって操作部材３３を当接治具に当接させる位置に搬送する。そして、操作部材３３を当接治具に当接させて、操作部材３３をボディ１１に押し込むことで、組となる能動側指部材２１と従動側指部材２２を回動させることができる。 ○ The operation of the operation member 33 does not have to be performed by an operator. When the gripping device 10 is attached to the tip of a conveyance device and the posture of the finger member 20 is to be changed, the operation member 33 is conveyed by the conveyance device to a position where it comes into contact with the abutment jig. Then, by bringing the operating member 33 into contact with the abutment jig and pushing the operating member 33 into the body 11, the active-side finger member 21 and the driven-side finger member 22 forming a pair can be rotated.
○ リンク連結軸５６の第２方向Ｙへの移動を案内する連結軸用案内溝１３ｃ及び連結軸用カムフォロア６０は無くてもよい。この場合、リンク連結軸５６は、底部１３の上面を摺動する。 The connecting shaft guide groove 13c and the connecting shaft cam follower 60 that guide the movement of the link connecting shaft 56 in the second direction Y may not be provided. In this case, the link connecting shaft 56 slides on the upper surface of the bottom part 13.
○ 操作軸案内溝３７を第１方向Ｘへ移動させつつ、操作軸案内溝３７に挿通されたリンク操作軸５２を第２方向Ｙへ移動させることができれば、操作部材３３を操作する方向は第１方向Ｘ以外でもよい。例えば、操作部材３３は、ボディ１１の周方向へ移動させて操作してもよいし、操作部材３３をボディ１１に対し螺進又は螺退させて操作するようにしてもよい。 ○ If it is possible to move the link operating shaft 52 inserted into the operating shaft guide groove 37 in the second direction Y while moving the operating shaft guide groove 37 in the first direction It may be in a direction other than the one direction X. For example, the operating member 33 may be operated by moving in the circumferential direction of the body 11, or may be operated by being screwed forward or backward relative to the body 11.
○ 操作部材３３がボディ１１の周面から突出する位置は変更してもよい。例えば、組となる能動側指部材２１と従動側指部材２２に挟まれた位置でもよい。
○ ボディ１１の中央にカメラ７５を配置しなくてもよい。
The position where the operating member 33 protrudes from the circumferential surface of the body 11 may be changed. For example, the position may be sandwiched between the active finger member 21 and the driven finger member 22 that form a pair.
○ The camera 75 does not have to be placed in the center of the body 11.
○ ボディ１１の中央に配置される部品は、カメラ７５でなくてもよく、荷重センサや、他のセンサであってもよい。
次に、上記実施形態及び別例から把握できる技術的思想について以下に追記する。
The component placed at the center of the body 11 may not be the camera 75, but may be a load sensor or other sensor.
Next, technical ideas that can be understood from the above embodiment and other examples will be additionally described below.
（１）前記リンク連結軸は、前記第２方向へ長手が延びる連結軸用案内溝に挿通されている。 (1) The link connecting shaft is inserted into a connecting shaft guide groove that extends longitudinally in the second direction.
Ｓ１…第１姿勢、Ｓ２…第２姿勢、Ｘ…第１方向、Ｙ…第２方向、１０…把持装置、１１…ボディ、１５…載置面、２０…指部材、２１…能動側指部材、２２…従動側指部材、３２…回動軸、３３…操作部材、３７…操作軸案内溝、５０…リンク機構、５２…リンク操作軸、５３…第１リンク部材、５３ａ…第１端部、５３ｂ…第２端部、５４…第２リンク部材、５４ａ…第１端部、５４ｂ…第２端部、５６…リンク連結軸。 S1...first attitude, S2...second attitude, X...first direction, Y...second direction, 10...grasping device, 11...body, 15...placing surface, 20...finger member, 21...active side finger member , 22... Driven side finger member, 32... Rotating shaft, 33... Operating member, 37... Operating shaft guide groove, 50... Link mechanism, 52... Link operating shaft, 53... First link member, 53a... First end portion , 53b...second end, 54...second link member, 54a...first end, 54b...second end, 56...link connection shaft.
Claims (4)
複数の前記指部材の根元が載置される載置面を備えるとともに前記載置面に直交する回動軸を回動中心として前記指部材を回動可能に支持するボディを備え、複数の前記指部材は前記ボディの側面から突出するとともに前記ボディの下方において物品を把持する把持装置であって、
前記載置面に沿って直線状に延びる方向を第１方向とし、前記載置面に沿いかつ前記第１方向に直交する方向を第２方向とすると、
前記ボディに支持された操作部材を備えるとともに、
前記操作部材は前記第２方向に長手が延びる操作軸案内溝を備え、
複数の前記指部材は、前記操作部材の操作に伴って回動する能動側指部材と当該能動側指部材に連動する従動側指部材とを一つの組として備え、前記能動側指部材と従動側指部材とはリンク機構によって、互いに接離する方向へ連動して回動可能に前記ボディに支持され、
前記リンク機構は、前記能動側指部材の根元に第１端部が回動可能に支持された第１リンク部材と、前記従動側指部材の根元に第１端部が回動可能に支持された第２リンク部材とを有し、
前記第１リンク部材の第２端部と前記第２リンク部材の第２端部とはリンク連結軸によって回動可能に連結され、前記リンク連結軸は前記第２方向へ移動可能に前記ボディに支持され、
前記操作部材の前記操作軸案内溝には前記リンク機構を操作するリンク操作軸が挿通されるとともに、前記リンク操作軸は、前記第１リンク部材の前記第１端部及び前記能動側指部材の根元に挿通され、
前記操作部材の操作によって前記操作軸案内溝を前記第１方向へ移動させることで前記操作軸案内溝によって前記リンク操作軸を前記第２方向へ移動可能に構成されている把持装置。 a plurality of finger members;
The plurality of finger members are provided with a mounting surface on which the bases of the plurality of finger members are mounted, and a body that rotatably supports the finger members about a rotation axis perpendicular to the mounting surface, and The finger member is a gripping device that protrudes from a side surface of the body and grips an article below the body,
A first direction is a direction extending linearly along the placement surface, and a second direction is a direction along the placement surface and orthogonal to the first direction,
an operating member supported by the body;
The operating member includes an operating shaft guide groove that extends longitudinally in the second direction,
The plurality of finger members includes, as one set, an active finger member that rotates as the operating member is operated and a driven finger member that moves in conjunction with the active finger member, and the active finger member and the driven finger member rotate. The side finger members are supported by the body by a link mechanism so as to be rotatable in conjunction with each other in directions of approaching and separating,
The link mechanism includes a first link member having a first end rotatably supported at the base of the active side finger member, and a first link member rotatably supported at the base of the driven side finger member. and a second link member,
The second end of the first link member and the second end of the second link member are rotatably connected by a link connecting shaft, and the link connecting shaft is movably connected to the body in the second direction. supported,
A link operating shaft for operating the link mechanism is inserted into the operating shaft guide groove of the operating member, and the link operating shaft is connected to the first end of the first link member and the active finger member. It is inserted into the base,
The gripping device is configured such that the link operating shaft can be moved in the second direction by the operating shaft guide groove by moving the operating shaft guide groove in the first direction by operating the operating member.
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| JP2011183475A (en) | 2010-03-04 | 2011-09-22 | Toshiba Corp | Robot hand |
| JP5898188B2 (en) | 2010-06-15 | 2016-04-06 | アビニシオ テクノロジー エルエルシー | Dynamic loading of graph-based calculations |
| WO2019215556A1 (en) | 2018-05-09 | 2019-11-14 | Idrojet S.R.L. | Multiple-layout grapple |
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| JP5408186B2 (en) * | 2011-05-12 | 2014-02-05 | 株式会社安川電機 | Hand and robot |
| KR102165435B1 (en) * | 2016-10-25 | 2020-10-14 | 무라다기카이가부시끼가이샤 | Ceiling carrier |
| CN110497427B (en) * | 2019-08-28 | 2021-08-13 | 杨杰 | Clamping part structure of industrial robot |
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| JP2011183475A (en) | 2010-03-04 | 2011-09-22 | Toshiba Corp | Robot hand |
| JP5898188B2 (en) | 2010-06-15 | 2016-04-06 | アビニシオ テクノロジー エルエルシー | Dynamic loading of graph-based calculations |
| WO2019215556A1 (en) | 2018-05-09 | 2019-11-14 | Idrojet S.R.L. | Multiple-layout grapple |
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