JPH10249775A - Robot hand finger - Google Patents
Robot hand fingerInfo
- Publication number
- JPH10249775A JPH10249775A JP9055851A JP5585197A JPH10249775A JP H10249775 A JPH10249775 A JP H10249775A JP 9055851 A JP9055851 A JP 9055851A JP 5585197 A JP5585197 A JP 5585197A JP H10249775 A JPH10249775 A JP H10249775A
- Authority
- JP
- Japan
- Prior art keywords
- finger
- bellows
- robot hand
- forming body
- base end
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Manipulator (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、基端が開口し所定
長さの部分が蛇腹になった中空袋状の指形成体を弾性樹
脂材で型成形して、前記指形成体の基端部を支持部材に
支持させた状態で流体供給部からの中空内部への流体の
供給圧で折曲変形し、流体の排出で弾性復元するよう構
成してあるロボットハンド用指に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hollow bag-shaped finger forming body having an open base end and a bellows-shaped portion having a predetermined length formed by molding an elastic resin material. The present invention relates to a finger for a robot hand configured to bend and deform by a supply pressure of a fluid from a fluid supply unit to a hollow interior in a state where the unit is supported by a support member, and to restore elasticity by discharging the fluid.
【０００２】[0002]
【従来の技術】従来、ロボットハンド用指においては、
特開昭８‐３００２８８号公報の図１に示されているよ
うに、一対の蛇腹１８が指形成体１の基端側と先端側と
の周方向一部分に各別に形成される状態に指形成体を型
成形してあり、そのために、型成形した段階で指形成体
の折曲姿勢（折れ曲がり具合）・折曲方向が一定姿勢・
一定方向に決まっていた。2. Description of the Related Art Conventionally, in a finger for a robot hand,
As shown in FIG. 1 of Japanese Patent Application Laid-Open No. 8-300288, a pair of bellows 18 are formed in such a manner that a pair of bellows 18 are separately formed on a part of the finger forming body 1 at the base end side and the tip end side in the circumferential direction. The body has been molded, and therefore, at the stage of molding, the bending posture (bending degree) and bending direction of the finger forming body are constant.
It was decided in a certain direction.
【０００３】[0003]
【発明が解決しようとする課題】型成形は型材と中子と
の間に液状の弾性樹脂材を注入し固体化させる成形手段
であり、指形成体を成形するに、指形成体の全長に合わ
せて製作した１本の中子の基端部を型材等により片持ち
支持した状態で、型材と中子との間に弾性樹脂材を注入
し、前記指形成体を基端側から先端側まで全長にわたっ
て連続する一体物になる状態に成形している。The molding is a molding means for injecting a liquid elastic resin material between the molding material and the core to solidify the resin material. An elastic resin material is injected between the mold and the core while the base end of one of the cores manufactured together is cantilevered by a mold or the like, and the finger-forming body is moved from the base end to the distal end. It is molded into a single piece that is continuous over its entire length.
【０００４】上記従来の構成によれば、型成形した段階
で指の折曲姿勢・折曲方向が一定姿勢・一定方向に決ま
るために、これらの折曲姿勢等が異なった複数種のロボ
ットハンド用指を製作するには、蛇腹に対応する型面部
分の位置が異なった複数組の型材・中子を準備しなけれ
ばならず、型材・中子の種類が増えて型材・中子に要す
る製作コストが高くなっていた。According to the above-mentioned conventional configuration, since the bending posture and the bending direction of the finger are determined to be a fixed posture and a fixed direction at the stage of molding, a plurality of types of robot hands having different bending postures and the like are provided. To manufacture a finger, it is necessary to prepare a plurality of sets of molds and cores with different positions of the mold surface corresponding to the bellows. The production cost was high.
【０００５】本発明は、型材・中子に要する製作コスト
を低廉化できるロボットハンド用指を提供することにあ
る。SUMMARY OF THE INVENTION It is an object of the present invention to provide a finger for a robot hand which can reduce the manufacturing cost required for a mold and a core.
【０００６】[0006]
〔構成〕請求項１にかかる発明の特徴構成は、冒頭に記
載したロボットハンド用指において前記蛇腹が指形成体
の全周にわたって環状に形成される状態に前記指形成体
を型成形するとともに、前記環状の蛇腹の周方向一部に
おける伸長を制限する制限手段を設けてあることにあ
る。[Structure] The characteristic structure of the invention according to claim 1 is that, in the finger for the robot hand described at the beginning, the bellows is molded into a state in which the bellows is formed in a ring shape over the entire circumference of the finger body, The present invention is characterized in that a restricting means for restricting the extension of the annular bellows in a part in the circumferential direction is provided.
【０００７】請求項２にかかる発明の特徴構成は、請求
項１にかかる発明において、前記環状の蛇腹を前記指形
成体の長手方向の複数部位に設けてあることにある。[0007] A characteristic feature of the invention according to claim 2 is that, in the invention according to claim 1, the annular bellows is provided at a plurality of portions in a longitudinal direction of the finger forming body.
【０００８】請求項３にかかる発明の特徴構成は、請求
項１又は２にかかる発明において、前記指形成体の長手
方向の複数箇所で異なった周方向部位に前記制限手段を
設けてあることにある。[0008] A characteristic feature of the invention according to claim 3 is that, in the invention according to claim 1 or 2, the restricting means is provided at different circumferential portions at a plurality of longitudinal positions of the finger forming body. is there.
【０００９】請求項４にかかる発明の特徴構成は、請求
項１，２，３のいずれか一つにかかる発明において、前
記制限手段は、前記蛇腹の外面側の溝部に詰め物を詰め
込んでその溝部と一体化して構成してあることにある。According to a fourth aspect of the present invention, in the invention according to any one of the first, second, and third aspects, the restricting means fills a groove in an outer surface side of the bellows to fill the groove. And that it is integrated.
【００１０】請求項５にかかる発明の特徴構成は、請求
項４にかかる発明において、前記詰め物は、複数の前記
溝部に各別に詰め込む複数の突起体を一体形成して構成
してあることにある。A feature of the invention according to claim 5 is that, in the invention according to claim 4, the padding is formed by integrally forming a plurality of projections to be individually packed into the plurality of grooves. .
【００１１】請求項６にかかる発明の特徴構成は、請求
項４又は５にかかる発明において、前記詰め物の外面を
この詰め物に隣接する両蛇腹頂面を結ぶ線上に位置させ
るとともに、前記外面を平滑面に形成してあることにあ
る。A feature of the invention according to claim 6 is that, in the invention according to claim 4 or 5, the outer surface of the filling is positioned on a line connecting both bellows top surfaces adjacent to the filling and the outer surface is smoothed. It is formed on the surface.
【００１２】請求項７にかかる発明の特徴構成は、請求
項１，２，３，４，５，６のいずれか一つにかかる発明
において、前記蛇腹の横断面形状を円形にしてあること
にある。A feature of the invention according to claim 7 is that, in the invention according to any one of claims 1, 2, 3, 4, 5, and 6, the cross-sectional shape of the bellows is circular. is there.
【００１３】〔作用〕請求項１の構成によれば次の
〔イ〕，〔ロ〕の作用を奏することができる。 〔イ〕蛇腹が指形成体の全周にわたって環状に形成され
る状態に指形成体を型成形してあるから、型成形した段
階では指形成体の折曲姿勢（折れ曲がり具合）・折曲方
向が定まらないが、前記蛇腹の周方向一部における伸長
を制限する制限手段を設けることで、指形成体の折曲姿
勢・折曲方向を決めることができる。[Operation] According to the configuration of the first aspect, the following operations [A] and [B] can be obtained. [B] Since the bellows is molded so that the bellows is formed in a ring shape around the entire circumference of the finger body, the bending posture (bending degree) and bending direction of the finger body at the stage of molding. However, the bending posture and the bending direction of the finger forming body can be determined by providing the limiting means for limiting the extension of the bellows in the circumferential direction.
【００１４】〔ロ〕前記制限手段を設ける位置を、各指
形成体ごとにその長手方向や周方向において異ならせる
と、各指形成体の折曲姿勢や折曲方向を異ならせること
ができる。つまり、折曲姿勢等が異なった複数種のロボ
ットハンド用指を製作する場合、蛇腹に対応する型面部
分の位置が異なった複数組の型材・中子を準備する必要
がなく、一種類の型材・中子で対応できる。[B] If the position where the restricting means is provided is made different in the longitudinal direction and the circumferential direction for each finger forming body, the bending posture and bending direction of each finger forming body can be made different. In other words, when manufacturing a plurality of types of robot hand fingers having different bending postures and the like, there is no need to prepare a plurality of sets of mold members and cores having different positions of the mold surface portion corresponding to the bellows, and one type of It can be handled with a mold and a core.
【００１５】〔ハ〕請求項２の構成によれば、上記請求
項１の構成による作用と同様の作用を奏することができ
るのに加え、次の作用を奏することができる。環状の蛇
腹を指形成体の長手方向の複数部位に設けてあるから、
指形成体を長手方向の複数部位で折曲させることができ
て、折曲姿勢を滑らかな曲線に近づけることができ、こ
の指形成体を備えたロボットハンドでは、特に球状や円
筒状の丸物の把持対象物をしっかり把持することができ
るようになる。[C] According to the structure of claim 2, in addition to the function similar to the function of the structure of claim 1, the following function can be achieved. Since annular bellows are provided at a plurality of portions in the longitudinal direction of the finger forming body,
The finger forming body can be bent at a plurality of portions in the longitudinal direction, and the bending posture can be approximated to a smooth curve. In a robot hand having this finger forming body, particularly, a spherical or cylindrical round object is used. Can be firmly gripped.
【００１６】〔ニ〕請求項３の構成によれば、上記請求
項１又は２の構成による作用と同様の作用を奏すること
ができるのに加え、指形成体の長手方向の複数箇所で異
なった周方向部位に前記制限手段を設けてあるから、指
形成体を単に一方向に折曲させることができるだけでな
く、前記制限手段によって区分けされる指形成体部分ご
とに互いに異なった方向に折曲させることができる。According to the third aspect of the present invention, the same operation as the operation of the first or second aspect can be obtained, and in addition, different points in the longitudinal direction of the finger forming body are provided. Since the restricting means is provided at the circumferential portion, not only the finger forming body can be simply bent in one direction, but also the finger forming body portions divided by the restricting means are bent in different directions from each other. Can be done.
【００１７】例えば図９（イ）に示すように、指形成体
Ａの基端側の蛇腹１５にはその把持面とは反対側に前記
制限手段２を設け（この制限手段２は蛇腹１５の溝部１
０に詰め物１１を詰め込み、その溝部１０に接着して構
成してある）、中間部及び先端側寄りの蛇腹１５にはそ
の把持面側に前記制限手段２を設けると、指形成体Ａの
折曲姿勢は、図９（ロ）に示すように、基端側が把持面
とは反対側に反り、中間部で腹部側に折曲した姿勢にな
って、この指形成体Ａを複数本設けたロボットハンドに
おいては、把持対称物を指形成体Ａの基端側まで深く入
り込ませて抱き込み保持することができる。For example, as shown in FIG. 9 (a), the bellows 15 on the base end side of the finger forming body A is provided with the limiting means 2 on the side opposite to the gripping surface (this limiting means 2 is provided on the bellows 15). Groove 1
0 is packed with the padding 11 and adhered to the groove 10). The bellows 15 near the middle and the tip side is provided with the restricting means 2 on the gripping surface side. As shown in FIG. 9 (b), the bending posture is such that the base end side is warped to the side opposite to the gripping surface, and is bent toward the abdomen at the middle part, and a plurality of the finger forming bodies A are provided. In the robot hand, the object to be gripped can be inserted deep into the base end side of the finger forming body A and held and held.
【００１８】〔ホ〕請求項４の構成によれば、上記請求
項１，２，３のいずれか一つの構成による作用と同様の
作用を奏することができるのに加え、前記制限手段は、
前記蛇腹の外面側の溝部に詰め物を詰め込んでその溝部
と一体化して構成してあるから、例えば蛇腹の両側に位
置する指形成部分同士を紐部材で繋いで制限手段を構成
する場合等に比べると、制限手段を簡単に製作すること
ができる。[E] According to the configuration of claim 4, in addition to the same operation as the operation of any one of the above-described claims 1, 2 and 3, in addition to the above, the limiting means can
Since the stuffing is stuffed into the groove on the outer surface side of the bellows and integrated with the groove, for example, it is compared with a case where the finger forming portions located on both sides of the bellows are connected by a string member to constitute the limiting means. Thus, the limiting means can be easily manufactured.
【００１９】〔ヘ〕請求項５の構成によれば、上記請求
項４の構成による作用と同様の作用を奏することができ
るのに加え、次の作用を奏することができる。各溝部ご
とに詰め物を別体に形成してあると、詰め物が小さく、
かつ、多数になって取り扱いにくく、また紛失しやすく
なるが、請求項５の構成によれば、前記詰め物は、複数
の前記溝部に各別に詰め込む複数の突起体を一体形成し
て構成してあるから、詰め物を取り扱いやすくなって詰
め込み作業を簡単に行うことができ、しかも紛失しにく
くなる。[F] According to the structure of claim 5, in addition to the effect similar to the effect of the structure of claim 4, the following effect can be achieved. If the filling is formed separately for each groove, the filling is small,
In addition, although it is difficult to handle and lose easily in large numbers, according to the configuration of claim 5, the padding is formed by integrally forming a plurality of protrusions to be individually packed in the plurality of groove portions. Therefore, the stuffing can be easily handled, the stuffing operation can be easily performed, and the stuffing is hardly lost.
【００２０】〔ト〕請求項６の構成によれば、上記請求
項４又５の構成による作用と同様の作用を奏することが
できるのに加え、詰め物の外面をこの詰め物に隣接する
両蛇腹頂面を結ぶ線上に位置させるとともに、前記外面
を平滑面に形成してあるから、把持対象物が球状野菜等
の軟らかい物であった場合、球状野菜等に把持による圧
痕を残しにくくなり、さらに、請求項６の構成による指
を備えたロボットハンドに、把持解除しながら把持対象
物を押し出す押し出し体を設けた場合は、押し出しに伴
う把持対象物の前記外面への引っ掛かりを抑制できる。[G] According to the structure of claim 6, in addition to the effect similar to that of the structure of claim 4 or 5, the outer surface of the padding can be provided on both bellows adjacent to the padding. Positioned on the line connecting the surfaces, and because the outer surface is formed as a smooth surface, if the object to be gripped is a soft object such as a spherical vegetable, it is difficult to leave an indentation due to gripping on the spherical vegetable, etc., In the case where the extruded body that pushes out the object to be gripped while releasing the grip is provided in the robot hand having the finger according to the configuration of claim 6, it is possible to suppress the object to be gripped from being caught by the pushing on the outer surface.
【００２１】〔チ〕請求項７の構成によれば、上記請求
項１，２，３，４，５，６のいずれか一つの構成による
作用と同様の作用を奏することができるのに加え次の作
用を奏することができる。特開昭８‐３００２８８号公
報の図４に示されているように、蛇腹１８を、その襞の
高さ寸法が指形成体１の両横側部側で小さく、背部頂点
側（同公報の紙面左側）になるほど高い盛り上がり状に
形成してあると、中子の外周型面と型材の内周型面との
周方向一部分に、前記盛り上がり状の蛇腹に対応する凹
凸部を形成することになり、この凹凸部が複雑な形状で
あることから、その形成に手間がかかかるが、請求項７
の構成によれば、前記蛇腹の横断面形状を円形にしてあ
るから、前記外周型面と内周型面とに全周にわたって横
断面が円形の凹凸部を形成すればよく、このような凹凸
部は前記盛り上がり状の蛇腹に対応する凹凸部に比べて
形状が簡単で、例えば旋削加工等によって簡単に形成す
ることができる。[H] According to the configuration of claim 7, the same operation as the operation of any one of the above-mentioned claims 1, 2, 3, 4, 5, and 6 can be obtained. Can be achieved. As shown in FIG. 4 of Japanese Patent Application Laid-Open No. 8-300288, the bellows 18 are formed such that the height dimension of the fold is small on both lateral sides of the finger forming body 1, and If it is formed so as to be higher as it goes to the left (on the left side in the drawing), it is possible to form an uneven portion corresponding to the above-mentioned bellows on a part of the outer peripheral surface of the core and the inner peripheral surface of the molding material in the circumferential direction. Since the uneven portion has a complicated shape, it takes time to form the uneven portion.
According to the configuration of the above, since the cross-sectional shape of the bellows is circular, it is only necessary to form a concavo-convex portion having a circular cross-section over the entire circumference of the outer peripheral surface and the inner peripheral surface. The portion has a simpler shape than the uneven portion corresponding to the raised bellows, and can be easily formed by, for example, turning.
【００２２】〔効果〕従って、請求項１の構成によれ
ば、上記作用〔イ〕，〔ロ〕により、折曲姿勢や折曲方
向が異なった複数種のロボットハンド用指を製作する場
合、型材・中子に要する製作コストを低廉化できるよう
になった。[Effects] Therefore, according to the configuration of claim 1, when a plurality of types of fingers for a robot hand having different bending postures and bending directions are manufactured by the above operations [1] and [2], The manufacturing cost required for the mold and core can be reduced.
【００２３】請求項２の構成によれば、上記作用〔ハ〕
により、上記請求項１の構成による効果と同様の効果を
奏することができるのに加え、把持した把持対象物を落
下させにくくなった。According to the configuration of the second aspect, the above operation (c)
Accordingly, the same effect as the effect of the configuration of the first aspect can be obtained, and in addition, it becomes difficult to drop the gripped target object.
【００２４】請求項３の構成によれば、上記作用〔ニ〕
により、上記請求項１又は２の構成による効果と同様の
効果を奏することができるのに加え、把持した把持対象
物をより落下させにくくすることができた。According to the configuration of claim 3, the above operation (d)
Thus, in addition to the same effect as the effect of the configuration of claim 1 or 2, it is possible to make it more difficult for the gripped object to drop.
【００２５】請求項４の構成によれば、上記作用〔ホ〕
により、上記請求項１，２，３のいずれか一つの構成に
よる効果と同様の効果を奏することができるのに加え、
制限手段の製作コストを低廉化できた。According to the configuration of claim 4, the above operation (e)
Thus, the same effect as the effect of any one of the first, second, and third aspects can be obtained.
The manufacturing cost of the limiting means could be reduced.
【００２６】請求項５の構成によれば、上記作用〔ヘ〕
により、上記請求項４の構成による効果と同様の効果を
奏することができるのに加え、制限手段の製作コストを
より低廉化できた。According to the configuration of claim 5, the above operation (f)
Accordingly, the same effect as the effect of the configuration of claim 4 can be obtained, and the manufacturing cost of the restricting means can be further reduced.
【００２７】請求項６の構成によれば、上記作用〔ト〕
により、上記請求項４又は５の構成による効果と同様の
効果を奏することができるのに加え、把持対象物が球状
野菜等の軟らかい物であった場合に把持対象物の商品価
値が落ちるのを回避でき、また、請求項６の構成による
指を備えたロボットハンドに、把持を解除しながら把持
対象物を押し出し体を設けた場合は、把持対象物を円滑
に押し出すことができ、しかも押し出しの際のひっかき
傷が把持対象物につくことを抑制できて、把持対象物の
商品価値が落ちるのを回避できるようになった。According to the configuration of claim 6, the above operation (g)
Thereby, in addition to the effect similar to the effect of the configuration of claim 4 or 5, the commercial value of the gripping target object decreases when the gripping target object is a soft object such as a spherical vegetable. In a case where the robot hand having the finger according to the configuration of claim 6 is provided with an extruded body for releasing the grasped object while releasing the grasping, the grasped object can be smoothly pushed out, and the pushing of the object can be smoothly performed. This makes it possible to suppress the occurrence of scratches on the object to be gripped, thereby preventing the commercial value of the object to be gripped from decreasing.
【００２８】請求項７の構成によれば、上記作用〔チ〕
により、上記請求項１，２，３，４，５，６のいずれか
一つの構成による効果と同様の効果を奏することができ
るのに加え、型材・中子に要する製作コストをより低廉
化できるようになった。According to the configuration of claim 7, the above operation (h)
Accordingly, the same effect as the effect of any one of the first, second, third, fourth, fifth, and sixth aspects can be obtained, and the manufacturing cost required for the mold and the core can be further reduced. It became so.
【００２９】[0029]
【発明の実施の形態】以下、本発明の実施の形態を図面
に基づいて説明する。図１に、レタス供給部のレタスを
把持し取出して包装装置（図示せず）のレタス受入れ部
に送り込むロボットハンド１を示してある。このロボッ
トハンド１は、支持フレーム（図示外）に駆動揺動自在
に支持させた揺動アーム５の揺動端部に、フィンガー支
持部材６を介してフィンガー部３（ロボットハンド用指
に相当）をつり下げ支持させて構成してある。Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a robot hand 1 which grasps and takes out a lettuce of a lettuce supply unit and sends it to a lettuce receiving unit of a packaging device (not shown). The robot hand 1 has a finger portion 3 (corresponding to a finger for a robot hand) on a swinging end of a swing arm 5 supported by a support frame (not shown) so as to be capable of swinging. Is suspended and supported.
【００３０】図５にも示すように前記フィンガー部３
は、基端が開口し背部が蛇腹１５になった中空袋状のゴ
ム製の指形成体Ａの基端側の開口３ｂを、フィンガー支
持部材６側の支持パイプ７に外嵌連結するとともに、基
端側を締めつけリング８で締めつけ固定し、図２，図３
に示すように、コンプレッサー９（流体供給部に相当）
からのフィンガー部３内への空気の供給圧で把持状態に
折曲変形し、空気の排出で把持解除状態に弾性復元する
よう構成してある。なお空気の給排経路等については後
述する。As shown in FIG.
The outer opening 3b of the hollow bag-shaped rubber finger forming body A having an open base end and a bellows 15 at the back is externally connected to a support pipe 7 on the finger support member 6 side, 2 and 3, the base end side is fixed by tightening with a tightening ring 8.
As shown in, the compressor 9 (corresponding to the fluid supply unit)
It is configured to bend into a gripping state by the supply pressure of air into the finger portion 3 from above, and to be elastically restored to a released state by discharging air. The air supply / discharge path and the like will be described later.
【００３１】前記指形成体Ａはゴム材（弾性樹脂材に相
当）で型成形する。前記型成形は、指形成体Ａの長手方
向複数箇所に蛇腹１５が指形成体Ａの全周にわたって円
形環状（つまり蛇腹１５の断面が円形になる）に形成さ
れる状態に行い、具体的には図４（イ），（ロ），
（ハ）に示すように、蛇腹１５に対応する環状凹凸部４
を内周型面・外周型面に形成した上型１２・下型１３・
中子１４を用い、中子１４の基端部を、上型１２と下型
１３とに形成した受け部１２Ｂ，１３Ｂにより片持ち支
持し、それらの間に液状の液状のゴム材を注入し固体化
させることにより行う（図４（イ），（ロ），（ハ）参
照）。The finger forming body A is molded from a rubber material (corresponding to an elastic resin material). The molding is performed in a state where the bellows 15 are formed in a circular ring shape (that is, the cross section of the bellows 15 becomes circular) over the entire circumference of the finger formation body A at a plurality of positions in the longitudinal direction of the finger formation body A. Figure 4 (a), (b),
As shown in (c), the annular uneven portion 4 corresponding to the bellows 15
Are formed on the inner peripheral surface and the outer peripheral surface.
Using the core 14, the base end of the core 14 is cantilevered by receiving portions 12B, 13B formed on the upper mold 12 and the lower mold 13, and a liquid rubber material is injected between them. This is performed by solidification (see FIGS. 4 (a), (b) and (c)).
【００３２】図６，図７，図８に示すように、前記指形
成体Ａには、その蛇腹１５の外面側の複数の溝部１０
に、詰め物１１を各別に詰め込んで各溝部１０に接着
し、環状の蛇腹１５の周方向一部（つまり腹部）におけ
る伸長を制限するよう構成してある。詰め物１１の外面
は平滑面で、この詰め物１１に隣接する両蛇腹頂面１５
ａを結ぶ線上に位置させてある。前記溝部１０に詰め物
１１を詰め込んで接着した構造で制限手段２を構成して
いる。As shown in FIGS. 6, 7 and 8, a plurality of grooves 10 on the outer surface side of the bellows 15 are formed in the finger forming body A.
In addition, the padding 11 is individually packed and adhered to each groove portion 10 to limit the extension of the annular bellows 15 in a part in the circumferential direction (that is, the abdomen). The outer surface of the filling 11 is a smooth surface, and the bellows top surfaces 15 adjacent to the filling 11
It is located on the line connecting a. The restricting means 2 has a structure in which a padding 11 is packed in and adhered to the groove 10.
【００３３】前記フィンガー部３の基端部には、支持パ
イプ７との連結部の把持面側部分の段差を埋めてその部
分のレタス側を向く面をフィンガー部３の先端から遠ざ
かるほど縮径側に位置させるテーパー部１６（図５参
照）を一体連設してある。The base end of the finger portion 3 fills the step on the gripping surface side portion of the connecting portion with the support pipe 7 and reduces the diameter of the surface facing the lettuce side as the distance from the distal end of the finger portion 3 increases. A taper portion 16 (see FIG. 5) located on the side is integrally provided.
【００３４】図１に示すように、前記フィンガー支持部
材６は縦パイプ部６Ａの下端部に中空で傘状のフィンガ
ー保持部６Ｂを連設して形成してあり、フィンガー支持
部材６とその周りの構造について説明すると、横断面が
小判形のピストンロッド１７の先端部に、スポンジ１８
ａを表面が平滑なゴム又は軟質樹脂１８ｂで被覆してな
る弾性変形可能なレタス押し出し体１８を設けたエアー
シリンダ１９（前記コンプレッサー９により駆動する）
を、前記レタス押し出し体１８が複数本のフィンガー部
３の基端側に囲まれる支持部材部分から出退するよう
に、縦パイプ部６Ａからフィンガー保持部６Ｂの中空部
にわたって下向き姿勢に支持させるとともに、フィンガ
ー支持部材６の底板２０に取り付けたブラケット２１の
小判形の孔２１Ａにピストンロッド１７を挿通させ、把
持解除もしくはほぼ把持解除されたレタスを包装装置の
レタス受入れ部側に押し込み可能に構成してある。前記
レタス押し出し体１８には、把持状態の各フィンガー部
３の各別の入り込みを許す切欠部１８Ａを形成してあ
る。As shown in FIG. 1, the finger supporting member 6 is formed by connecting a hollow, umbrella-shaped finger holding portion 6B at the lower end of a vertical pipe portion 6A. The structure of the piston rod 17 will now be described.
An air cylinder 19 provided with an elastically deformable lettuce extruded body 18 formed by covering a with a smooth rubber or soft resin 18b (driven by the compressor 9)
While supporting the lettuce extruded body 18 from the vertical pipe portion 6A to the hollow portion of the finger holding portion 6B so that the lettuce extruded body 18 protrudes and retreats from the support member portion surrounded by the base end sides of the plurality of finger portions 3. The piston rod 17 is inserted through the oval hole 21A of the bracket 21 attached to the bottom plate 20 of the finger support member 6, and the lettuce that has been released or almost released can be pushed into the lettuce receiving portion side of the packaging device. It is. The lettuce extruded body 18 is formed with a cutout portion 18A that allows each finger portion 3 in a gripped state to enter the finger portion 3 separately.
【００３５】図２にも示すように、前記エアーシリンダ
１９のシリンダチューブ２２と、前記縦パイプ部６Ａと
の間に空気収容空隙２３を形成して、コンプレッサー９
と前記空気収容空隙２３とを第１ホース２４を介して連
通接続するとともに、空気収容空隙２３の複数箇所の部
分と各フィンガー部３の基端側開口とを、複数本の第２
ホース２５を介して各別に連通接続して、コンプレッサ
ー９から各フィンガー部３内に空気を給排するよう構成
してある。As shown in FIG. 2, an air accommodating space 23 is formed between the cylinder tube 22 of the air cylinder 19 and the vertical pipe portion 6A, and
And the air accommodating space 23 are connected to each other via a first hose 24, and a plurality of portions of the air accommodating cavity 23 and the base end side opening of each finger portion 3 are connected to a plurality of second
Each is connected to each other via a hose 25 so as to supply and discharge air from the compressor 9 into each finger portion 3.
【００３６】〔別実施形態〕図９（イ）に示すように、
前記詰め物１１は、指形成体Ａの長手方向の複数箇所で
異なった周方向部位に設けてもよい。つまり、各指形成
体Ａの基端側の蛇腹１５にはその把持面（紙面において
左側の面）とは反対側の溝部１０に詰め物１１を詰め込
み、中間部及び先端側寄りの蛇腹１５にはその把持面側
の溝部１０に詰め物１１を詰め込む。これにより、図９
（ロ）に示すように、各指形成体Ａの折曲姿勢は、基端
側が把持面とは反対側に反り、中間部で腹部側に把持折
曲した姿勢になって、レタスを指形成体Ａの基端側まで
深く入り込ませて抱き込み保持することができる。[Another Embodiment] As shown in FIG.
The padding 11 may be provided in different circumferential portions at a plurality of positions in the longitudinal direction of the finger forming body A. That is, the bellows 15 on the base end side of each finger forming body A is filled with the padding 11 in the groove 10 on the opposite side to the gripping surface (the left side surface in the drawing), and The padding 11 is packed in the groove 10 on the gripping surface side. As a result, FIG.
As shown in (b), the bending posture of each finger forming body A is such that the base end side is warped to the opposite side to the gripping surface, and is gripped and bent toward the abdominal side at the intermediate portion to form a lettuce finger. The body A can be squeezed and held deeply into the base end side.
【００３７】図１０に示すように、複数の溝部１０に各
別に詰め込む複数の突起体１１Ａを一体形成して前記詰
め物１１を構成してもよい。As shown in FIG. 10, a plurality of protrusions 11A to be individually packed into a plurality of grooves 10 may be integrally formed to form the filling 11.
【００３８】図１１に示すように、各蛇腹１５間の指形
成体部分２６に接着したシート１１で前記制限手段１２
を構成してもよい。As shown in FIG. 11, the restricting means 12 is attached to the sheet 11 adhered to the finger forming portion 26 between the bellows 15.
May be configured.
【図１】ロボットハンドの縦断面図FIG. 1 is a longitudinal sectional view of a robot hand.
【図２】ロボットハンドの空気給排系を示す横断面図FIG. 2 is a cross-sectional view showing an air supply / discharge system of the robot hand.
【図３】フィンガー部の把持作動を示す図FIG. 3 is a diagram showing a gripping operation of a finger unit.
【図４】（イ）指形成体の型成形時における型材等の組
み付け前の状態を示す図 （ロ）指形成体の型成形時における型材等の組み付け状
態を示す図 （ハ）指形成体の型成形時において弾性樹脂材を型材内
に注入した状態を示す図FIGS. 4A and 4B are views showing a state before assembling a mold member and the like at the time of molding a finger forming body; FIGS. The figure which shows the state which injected the elastic resin material into the mold material at the time of the molding of
【図５】指形成体及びその支持パイプ等を示す縦断面図FIG. 5 is a longitudinal sectional view showing a finger forming body and its supporting pipe, etc.
【図６】指形成体の横断面図FIG. 6 is a cross-sectional view of a finger forming body.
【図７】（イ）指形成体の蛇腹の溝部に詰め物を詰め込
む前の状態を示す図 （ロ）指形成体の蛇腹の溝部に詰め物を詰め込んだ状態
を示す図FIG. 7A shows a state before the padding is packed in the bellows groove of the finger forming body. FIG. 7B shows a state where the padding is packed in the bellows groove of the finger forming body.
【図８】指形成体の折曲作動を示す縦断面図FIG. 8 is a longitudinal sectional view showing the bending operation of the finger forming body.
【図９】別実施形態を示す図FIG. 9 is a diagram showing another embodiment.
【図１０】別実施形態を示す縦断面図FIG. 10 is a longitudinal sectional view showing another embodiment.
【図１１】別実施形態を示す図FIG. 11 is a diagram showing another embodiment.
２ 制限手段 ６ 支持部材 ９ 流体供給部 １０ 溝部 １１ 詰め物 １１Ａ 突起体 １５ 蛇腹 １５ａ 蛇腹頂面 Ａ 指形成体 2 Limiting Means 6 Support Member 9 Fluid Supply Unit 10 Groove 11 Filler 11A Projection 15 Bellow 15a Bellow Top A Finger Forming Body
Claims (7)
った中空袋状の指形成体を弾性樹脂材で型成形して、前
記指形成体の基端部を支持部材に支持させた状態で流体
供給部からの中空内部への流体の供給圧で折曲変形し、
流体の排出で弾性復元するよう構成してあるロボットハ
ンド用指であって、 前記蛇腹が指形成体の全周にわたって環状に形成される
状態に前記指形成体を型成形するとともに、前記環状の
蛇腹の周方向一部における伸長を制限する制限手段を設
けてあるロボットハンド用指。1. A hollow bag-shaped finger forming body whose base end is open and a predetermined length portion is bellows is molded from an elastic resin material, and the base end of the finger forming body is supported by a support member. In the state where it is made to bend and deform by the supply pressure of fluid from the fluid supply unit to the hollow interior,
A finger for a robot hand, which is configured to elastically recover by discharging a fluid, wherein the bellows is molded into a state in which the bellows is formed in a ring shape over the entire circumference of the finger formation, and the ring-shaped finger is formed. A finger for a robot hand provided with a restricting means for restricting extension in a part of the bellows in a circumferential direction.
向の複数箇所に設けてある請求項１記載のロボットハン
ド用指。2. The finger for a robot hand according to claim 1, wherein the annular bellows is provided at a plurality of positions in a longitudinal direction of the finger forming body.
なった周方向部位に前記制限手段を設けてある請求項１
又は２記載のロボットハンド用指。3. The restricting means is provided at different circumferential positions at a plurality of positions in the longitudinal direction of the finger forming body.
Or the finger for a robot hand according to 2.
部に詰め物を詰め込んでその溝部と一体化して構成して
ある請求項１，２，３のいずれか一つに記載のロボット
ハンド用指。4. The robot hand according to claim 1, wherein the restricting means is configured such that a pad is packed in a groove on the outer surface side of the bellows and integrated with the groove. finger.
詰め込む複数の突起体を一体形成して構成してある請求
項４記載のロボットハンド用指。5. The finger for a robot hand according to claim 4, wherein the padding is formed by integrally forming a plurality of protrusions to be individually packed into the plurality of grooves.
る両蛇腹頂面を結ぶ線上に位置させるとともに、前記外
面を平滑面に形成してある請求項４又は５記載のロボッ
トハンド用指。6. The finger for a robot hand according to claim 4, wherein an outer surface of the padding is positioned on a line connecting both bellows top surfaces adjacent to the padding, and the outer surface is formed as a smooth surface.
請求項１，２，３，４，５，６のいずれか一つに記載の
ロボットハンド用指。7. The finger for a robot hand according to claim 1, wherein the bellows has a circular cross-sectional shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9055851A JPH10249775A (en) | 1997-03-11 | 1997-03-11 | Robot hand finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9055851A JPH10249775A (en) | 1997-03-11 | 1997-03-11 | Robot hand finger |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH10249775A true JPH10249775A (en) | 1998-09-22 |
Family
ID=13010559
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP9055851A Pending JPH10249775A (en) | 1997-03-11 | 1997-03-11 | Robot hand finger |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH10249775A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102366952A (en) * | 2011-09-21 | 2012-03-07 | 杭州祥生砂光机制造有限公司 | Exterior skeleton type air bag clamping mechanical finger and clamping method |
| WO2013062463A1 (en) * | 2011-10-25 | 2013-05-02 | Xerex Ab | Insert for bellows with non-linear compression / expansion in a vacuum powered tool |
| JP2013240859A (en) * | 2012-05-21 | 2013-12-05 | Yaskawa Electric Corp | Robot hand, robot system, and method for manufacturing artifact |
| JP2014076524A (en) * | 2012-10-11 | 2014-05-01 | Seiko Epson Corp | Robot hand, robot device and method of manufacturing robot hand |
| CN105965533A (en) * | 2016-06-17 | 2016-09-28 | 重庆科技学院 | Combined type pneumatic flexible finger |
| CN106927000A (en) * | 2017-03-06 | 2017-07-07 | 浙江大学 | Transformation compound bending module, S types advance around module and soft robot |
| WO2019065269A1 (en) * | 2017-09-26 | 2019-04-04 | 株式会社 東芝 | Gripping tool, gripping system and manufacturing method of resin member |
| WO2019176808A1 (en) * | 2018-03-14 | 2019-09-19 | 日本電産株式会社 | Robot hand and robot |
| EP3563982A1 (en) * | 2018-05-04 | 2019-11-06 | J. Schmalz GmbH | Mounting assembly for mounting on elastically deformable vacuum gripper and mechanical actuator |
-
1997
- 1997-03-11 JP JP9055851A patent/JPH10249775A/en active Pending
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102366952A (en) * | 2011-09-21 | 2012-03-07 | 杭州祥生砂光机制造有限公司 | Exterior skeleton type air bag clamping mechanical finger and clamping method |
| EP2771271A4 (en) * | 2011-10-25 | 2016-06-22 | Xerex Ab | Insert for bellows with non-linear compression / expansion in a vacuum powered tool |
| CN103889876A (en) * | 2011-10-25 | 2014-06-25 | 谢雷克斯公司 | Insert for bellows with non-linear compression / expansion in a vacuum powered tool |
| WO2013062463A1 (en) * | 2011-10-25 | 2013-05-02 | Xerex Ab | Insert for bellows with non-linear compression / expansion in a vacuum powered tool |
| US9046177B2 (en) | 2011-10-25 | 2015-06-02 | Xerex Ab | Insert for bellows with non-linear compression / expansion in a vacuum powered tool |
| US8936291B2 (en) | 2012-05-21 | 2015-01-20 | Kabushiki Kaisha Yaskawa Denki | Robot hand, robot system, and method for manufacturing workpiece |
| JP2013240859A (en) * | 2012-05-21 | 2013-12-05 | Yaskawa Electric Corp | Robot hand, robot system, and method for manufacturing artifact |
| JP2014076524A (en) * | 2012-10-11 | 2014-05-01 | Seiko Epson Corp | Robot hand, robot device and method of manufacturing robot hand |
| US9016742B2 (en) | 2012-10-11 | 2015-04-28 | Seiko Epson Corporation | Robot hand, robot device and method of manufacturing robot hand |
| CN105965533A (en) * | 2016-06-17 | 2016-09-28 | 重庆科技学院 | Combined type pneumatic flexible finger |
| CN106927000A (en) * | 2017-03-06 | 2017-07-07 | 浙江大学 | Transformation compound bending module, S types advance around module and soft robot |
| WO2019065269A1 (en) * | 2017-09-26 | 2019-04-04 | 株式会社 東芝 | Gripping tool, gripping system and manufacturing method of resin member |
| JP2019058972A (en) * | 2017-09-26 | 2019-04-18 | 株式会社東芝 | Holding tool, holding system and method for producing resin member |
| US11426882B2 (en) | 2017-09-26 | 2022-08-30 | Kabushiki Kaisha Toshiba | Gripping tool, gripping system, and method for manufacturing resin member |
| US11712812B2 (en) | 2017-09-26 | 2023-08-01 | Kabushiki Kaisha Toshiba | Gripping tool, gripping system, and method for manufacturing resin member |
| WO2019176808A1 (en) * | 2018-03-14 | 2019-09-19 | 日本電産株式会社 | Robot hand and robot |
| EP3563982A1 (en) * | 2018-05-04 | 2019-11-06 | J. Schmalz GmbH | Mounting assembly for mounting on elastically deformable vacuum gripper and mechanical actuator |
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