CN114833851A - Gripping device - Google Patents

Abstract

The invention provides a gripping device which can grip articles in various postures. The gripping device grips an article with a first finger member and a second finger member. The article has: the disc-shaped member includes a conical disc portion having an inclined surface, and a shaft portion passing through a central axis of the disc portion. The first finger member has a first surface and a second surface provided to face the second finger member, the second finger member has a base surface provided to face the first finger member, a groove for gripping the shaft portion of the article is provided in at least one of the first surface and the base surface, and an angle formed between the second surface and the base surface corresponds to an angle of the inclined surface of the disk portion of the article.

Description

Gripping device

Technical Field

The present invention relates to a gripping device.

Background

Patent document 1 discloses a robot gripping device for gripping an article with two finger members. The gripping device includes: the first groove portion and the second groove portion hold the columnar article.

Documents of the prior art

Patent document

Patent document 1: japanese Kokai publication Sho-61-201791

Disclosure of Invention

Technical problem to be solved by the invention

In the above-described gripping device, for example, when gripping an article such as a pulley having a shaft portion and a disk portion having an inclined surface, the disk portion of the article cannot be gripped, and only the shaft portion of the article can be gripped. In other words, since the posture of the article that can be gripped by the gripping device is limited, it is necessary to arrange the article so that the gripping device can grip the article.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a gripping device capable of gripping articles in various postures.

Technical solution for solving technical problem

According to an aspect of the present invention, there is provided a gripping device for gripping an article with a first finger member and a second finger member, the article including: the article handling device includes a circular disk portion having a conical shape and an inclined surface, and a shaft portion passing through a center axis of the circular disk portion, wherein the first finger member has a first surface and a second surface provided to face the second finger member, the second finger member has a base surface provided to face the first finger member, a groove for gripping the shaft portion of the article is provided in at least one of the first surface and the base surface, and an angle formed between the second surface and the base surface corresponds to an angle of the inclined surface of the circular disk portion of the article.

ADVANTAGEOUS EFFECTS OF INVENTION

According to the above aspect, the gripping device can grip the shaft portion of the article by the groove. The disk portion of the article can be gripped by the second surface and the base surface facing the second surface. Thus, the gripping device can grip articles in various postures.

Drawings

Fig. 1 is a schematic view of a robot provided with a gripping device according to the present embodiment.

Fig. 2 is a perspective view of the gripping device.

Fig. 3 is a perspective view of the pulley.

Fig. 4 is a view of the first hand portion as viewed from the direction IV of fig. 2.

Fig. 5 is a view of the second hand as viewed from the V direction in fig. 2.

Fig. 6 is a perspective view showing a state in which the first shaft portion is gripped by the gripping device in a state in which the shaft portions of the pulleys extend in the longitudinal direction of the first hand portion and the second hand portion.

Fig. 7 is a perspective view showing a state in which the second shaft portion is gripped by the gripping device in a state in which the shaft portion of the pulley extends in the longitudinal direction of the first hand portion and the second hand portion.

Fig. 8 is a perspective view showing a state in which the shaft portion of the pulley is gripped by the gripping device in a state in which the shaft portion extends in the width direction of the first hand and the second hand.

Fig. 9 is a perspective view showing a state where the disk portion of the pulley is gripped by the gripping device.

Detailed Description

Next, agripping device 100 according to an embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a schematic view of a robot 1 provided with agripping device 100. Fig. 2 is a perspective view of thegripping device 100.

As shown in fig. 1, thegripping device 100 according to the present embodiment is provided at the tip of the arm of the robot 1. The robot 1 is a multi-axis robot, and the position and direction of thegripping device 100 can be controlled by the arm in six axial directions (X-axis direction, Y-axis direction, Z-axis direction, and rotational direction around each axis).

As shown in fig. 2, thegripping device 100 includes: a drivingsection 5, afirst hand 10 as a first finger member, and asecond hand 20 as a second finger member. Thefirst hand 10 and thesecond hand 20 are attached to thedriving unit 5 so as to face each other.

The drivingunit 5 includes, for example, an air cylinder, a motor, and the like, and drives thefirst hand 10 and thesecond hand 20 in a direction to approach each other and a direction to separate from each other. Since the configuration for driving thefirst hand 10 and thesecond hand 20 by the drivingunit 5 can be a known configuration, a detailed description thereof is omitted.

Thegripping device 100 is driven by the drivingunit 5 in a direction in which thefirst hand 10 and thesecond hand 20 approach each other, thereby generating a gripping force between thefirst hand 10 and thesecond hand 20 and gripping the pulley 30 (see fig. 3) as an article. Thepulley 30 is a component constituting a continuously variable transmission mechanism of the transmission.

Fig. 3 is a perspective view of thepulley 30. As shown in fig. 3, thepulley 30 includes: aconical disk part 31 having aninclined surface 31a, and ashaft part 32 passing through the central axis of thedisk part 31.

Theinclined surface 31a is one surface in the axial direction of thedisc portion 31, and is inclined with respect to theflat surface 31b, which is the other surface in the axial direction. The angle α of theinclined surface 31a, specifically, the angle α formed by theflat surface 31b and theinclined surface 31a is about 10 degrees.

Theshaft portion 32 is substantially cylindrical, and includes: afirst shaft portion 32a protruding from theinclined surface 31a, and asecond shaft portion 32b protruding from theflat surface 31 b.

Next, thefirst hand 10 and thesecond hand 20 will be described in detail with reference to fig. 2, 4, and 5. Fig. 4 is a view of thefirst hand 10 as viewed from the direction IV of fig. 2. Fig. 5 is a view of thesecond hand 20 as viewed from the V direction in fig. 2.

As shown in fig. 2, thefirst hand 10 has afirst surface 11 and asecond surface 12 provided to face thesecond hand 20. Thefirst surface 11 is provided on the distal end side of thefirst hand 10, and thesecond surface 12 is provided adjacent to thefirst surface 11 and closer to the proximal end side of thefirst hand 10 than thefirst surface 11.

Thesecond hand portion 20 has abase surface 21 provided to face thefirst hand portion 10. Specifically, thebase surface 21 is provided parallel to thefirst surface 11 of thefirst hand 10 and faces thefirst surface 11 and thesecond surface 12 of thefirst hand 10.

As shown in fig. 2 and 4, thefirst surface 11 of thefirst hand 10 is provided with agroove 13 for gripping theshaft 32 of thepulley 30. As shown in fig. 4, thegroove 13 is composed of afirst groove 13a extending in the longitudinal direction of thefirst hand 10 and asecond groove 13b intersecting thefirst groove 13 a. In the present embodiment, thesecond groove 13b extends in the width direction of thefirst hand portion 10 and is provided orthogonal to thefirst groove 13 a.

Thefirst groove 13a and thesecond groove 13b in the present embodiment are V-shaped grooves having a center deeper than both ends in a cross section perpendicular to the extending direction of each groove. In the present embodiment, thefirst groove 13a is a deeper groove than thesecond groove 13 b. Therefore, thesecond groove 13b is a discontinuous groove divided into two by thefirst groove 13 a.

As shown in fig. 2, thesecond surface 12 of thefirst hand portion 10 is provided obliquely with respect to thebase surface 21 of thesecond hand portion 20. Specifically, thesecond surface 12 is inclined toward thebase surface 21 as it goes toward the base end side of thefirst hand 10.

The angle β formed by thesecond surface 12 of thefirst hand 10 and thebase surface 21 of thesecond hand 20 corresponds to the angle α of theinclined surface 31a of thedisc portion 31 of thepulley 30. In the present embodiment, the angle β is substantially the same as the angle α. The operation and effect of thesecond surface 12 thus configured will be described later.

Astep 14 is provided between thefirst surface 11 and thesecond surface 12 of thefirst hand 10. By providing the steppedportion 14, thesecond surface 12 is located in the vicinity of thesecond hand 20 rather than thefirst surface 11. Thestep portion 14 is provided so that a plane including thesecond surface 12 does not intersect thefirst surface 11.

As shown in fig. 2 and 5, thegroove 22 for gripping theshaft portion 32 of thepulley 30 is provided on thebase surface 21 of thesecond hand portion 20. As shown in fig. 5, thegroove 22 is composed of afirst groove 22a extending in the longitudinal direction of thesecond hand 20 and asecond groove 22b intersecting thefirst groove 22a, similarly to thegroove 13 of thefirst surface 11. Thefirst groove 22a is provided to face thefirst groove 13a of thefirst hand 10, and thesecond groove 22b is provided to face thesecond groove 13b of thefirst hand 10. Since thegroove 22 has the same structure as thegroove 13, detailed description thereof is omitted.

Next, a state in which thegripping device 100 grips thepulley 30 by thefirst hand portion 10 and thesecond hand portion 20 will be described with reference to fig. 6 to 9.

Thegripping device 100 is driven by the drivingunit 5 in a direction in which thefirst hand 10 and thesecond hand 20 approach each other, and grips theshaft portion 32 or thedisk portion 31 of thepulley 30 by thefirst hand 10 and thesecond hand 20.

Fig. 6 shows a state in which thefirst shaft portion 32a is gripped by thegripping device 100 in a state in which theshaft portion 32 of thepulley 30 extends in the longitudinal direction of thefirst hand 10 and thesecond hand 20. In this state, thefirst shaft portion 32a of thepulley 30 is sandwiched between thefirst surface 11 of thefirst hand portion 10 and thebase surface 21 of thesecond hand portion 20 in thegrip device 100.

As described above, thefirst groove 13a is provided on thefirst surface 11 of thefirst hand 10, and thefirst groove 22a is provided on thebase surface 21 of thesecond hand 20. Since thefirst groove 13a and thefirst groove 22a have a V-shaped cross section, thefirst shaft portion 32a is in line contact with two surfaces forming thefirst groove 13a at two positions, and is in line contact with two surfaces forming thefirst groove 22a at two positions. Thereby, the contact range of thefirst shaft portion 32a with thefirst surface 11 and thebase surface 21 is increased as compared with the case where thefirst groove 13a and thefirst groove 22a are not provided. This enables thefirst shaft 32a to be stably gripped by thefirst surface 11 of thefirst hand 10 and thebase surface 21 of thesecond hand 20.

Further, as the front end position of thefirst shaft portion 32a approaches the steppedportion 14, the contact range of thefirst shaft portion 32a with thefirst groove 13a and thefirst groove 22a increases. This allows thefirst shaft portion 32a to be gripped more stably by thefirst surface 11 of thefirst hand portion 10 and thebase surface 21 of thesecond hand portion 20.

Fig. 7 shows a state in which thesecond shaft portion 32b is gripped by thegripping device 100 in a state in which theshaft portion 32 of thepulley 30 extends in the longitudinal direction of thefirst hand 10 and thesecond hand 20. In this state, thegripping device 100 grips thesecond shaft portion 32b of thepulley 30 by thefirst surface 11 of thefirst hand portion 10 and thebase surface 21 of thesecond hand portion 20, as in the state of gripping thefirst shaft portion 32a described above.

The state shown in fig. 7 is the same as the state shown in fig. 6, and the contact range of thesecond shaft portion 32b with thefirst surface 11 and thebase surface 21 is also increased as compared with the case where thefirst groove 13a and thefirst groove 22a are not provided. This enables thesecond shaft portion 32b to be stably gripped by thefirst surface 11 of thefirst hand portion 10 and thebase surface 21 of thesecond hand portion 20.

Fig. 8 shows a state in which the shaft portion 32 (thefirst shaft portion 32a or thesecond shaft portion 32b) is gripped by thegripping device 100 in a state in which theshaft portion 32 of thepulley 30 extends in the width direction of thefirst hand portion 10 and thesecond hand portion 20. In fig. 8, thedisc portion 31 of thepulley 30 is not shown. In this state, thegripping device 100 grips theshaft portion 32 of thepulley 30 by thefirst surface 11 of thefirst hand portion 10 and thebase surface 21 of thesecond hand portion 20.

As described above, thefirst surface 11 of thefirst hand portion 10 is provided with thesecond groove 13b, and thebase surface 21 of thesecond hand portion 20 is provided with thesecond groove 22 b. Thesecond grooves 13b and 22b have a V-shaped cross section, similar to thefirst grooves 13a and 22 a. Therefore, theshaft portion 32 is in contact with the divided four upper lines forming thesecond groove 13b in total, and is also in contact with the divided four upper lines forming thesecond groove 22b in total. This increases the contact range of theshaft portion 32 with thefirst surface 11 and thebase surface 21, as compared with the case where thesecond groove 13b and thesecond groove 22b are not provided. This enables theshaft portion 32 to be stably gripped by thefirst surface 11 of thefirst hand portion 10 and thebase surface 21 of thesecond hand portion 20.

Fig. 9 shows a state where thedisk portion 31 of thepulley 30 is gripped by thegripping device 100. In this state, thegripping device 100 grips thedisc portion 31 of thepulley 30 by thesecond surface 12 of thefirst hand portion 10 and thebase surface 21 of thesecond hand portion 20.

As described above, in the present embodiment, the angle β (see fig. 2) formed by thesecond surface 12 of thefirst hand portion 10 and thebase surface 21 of thesecond hand portion 20 is substantially the same as the angle α (see fig. 3) of theinclined surface 31a of thedisc portion 31 of thepulley 30. Therefore, thesecond surface 12 of thefirst hand portion 10 and thebase surface 21 of thesecond hand portion 20 can be brought into contact with theinclined surface 31a and theflat surface 31b of thedisk portion 31 to grip thedisk portion 31.

Thefirst hand 10 is provided with a steppedportion 14 so that a plane including thesecond surface 12 does not intersect thefirst surface 11. Thus, when thedisc portion 31 is gripped by thegripping device 100, thedisc portion 31 does not contact thefirst surface 11.

In addition, even in a state where the direction of thepulley 30 is reversed in the left-right direction in fig. 9, thegripping device 100 can grip thedisc portion 31 by bringing thesecond surface 12 of thefirst hand portion 10 and thebase surface 21 of thesecond hand portion 20 into contact with theflat surface 31b and theinclined surface 31a of thedisc portion 31.

As long as thedisk portion 31 of thepulley 30 can be gripped by thesecond surface 12 and thebase surface 21, the angle β formed by thesecond surface 12 and thebase surface 21 may not be substantially the same as the angle α of theinclined surface 31a of thedisk portion 31. That is, when thedisk portion 31 of thepulley 30 can be gripped by thesecond surface 12 and thebase surface 21, the angle β formed by thesecond surface 12 and thebase surface 21 corresponds to the angle α of theinclined surface 31a of thedisk portion 31 of thepulley 30.

As described above, in thegripping device 100 of the present embodiment, thepulley 30 can be gripped by thefirst hand 10 and thesecond hand 20 in four states shown in fig. 6 to 9. That is, thegripping device 100 can grip thepulley 30 in a plurality of postures.

The robot 1 recognizes the posture of thepulley 30 as the gripping target by a camera or the like, not shown, for example, and selects a posture suitable for gripping thepulley 30 from among the above four states. Specifically, the robot 1 selects a state in which thepulley 30 can be gripped with the smallest arm movement from among the four states, controls the arm so that thepulley 30 can be gripped in this state, and adjusts the position and direction of thegripping device 100. Then, the drivingunit 5 drives thefirst hand 10 and thesecond hand 20 in a direction to approach each other, and grips thepulley 30 of the gripping object.

When the robot 1 has two ormore pulleys 30, that is, when two ormore pulleys 30 are included in an image captured by a camera or the like, it is possible to determine whichpulley 30 is the gripping target.

In the present embodiment, thegroove 13 is composed of thefirst groove 13a and thesecond groove 13b, and thegroove 22 is composed of thefirst groove 22a and thesecond groove 22 b. However, thegroove 13 may be constituted by only one of thefirst groove 13a and thesecond groove 13 b. The same applies to thegroove 22. In this case, since thegripping device 100 can grip both theshaft portion 32 and thedisk portion 31 of thepulley 30, an effect that thepulley 30 can be gripped in a plurality of postures can be obtained.

In the present embodiment, thefirst grooves 13a and 22a extend in the longitudinal direction of thefirst hand 10 and thesecond hand 20, and thesecond grooves 13b and 22b extend in the width direction of thefirst hand 10 and thesecond hand 20. Therefore, thegripping device 100 can grip thepulley 30 of which theshaft portion 32 faces the longitudinal direction of thefirst hand 10 and thesecond hand 20 by thefirst grooves 13a and 22 a. Thegripping device 100 can grip thepulley 30 whoseshaft 32 faces the width direction of thefirst hand 10 and thesecond hand 20 with thesecond grooves 13b and 22 b. Thus, thegripping device 100 can grip thepulley 30 in a plurality of postures.

However, thefirst grooves 13a and 22a may be provided to extend in a direction other than the longitudinal direction of thefirst hand 10 and thesecond hand 20, and thesecond grooves 13b and 22b may be provided to extend in a direction intersecting thefirst grooves 13a and 22 a. Thefirst grooves 13a and 22a and thesecond grooves 13b and 22b may not substantially intersect each other. In this case, since thepulleys 30 having theshaft portions 32 facing different directions can be gripped by thefirst grooves 13a and 22a and thesecond grooves 13b and 22b, thepulleys 30 having a plurality of postures can be gripped.

In the present embodiment, thefirst hand portion 10 is provided with thegroove 13, and thesecond hand portion 20 is provided with thegroove 22. Therefore, the contact range of theshaft 32 with thefirst surface 11 and thebase surface 21 is increased, and thepulley 30 can be stably gripped. However, only one of thegrooves 13 and 22 may be provided. In this case, as compared with the case where neither thegroove 13 nor thegroove 22 is provided, the effect of stably gripping thepulley 30 can be obtained.

The main operational effects of thegripping device 100 configured as described above will be summarized.

(1) Thegripping device 100 grips apulley 30 as an article by afirst hand 10 as a first finger member and asecond hand 20 as a second finger member. Thepulley 30 has: aconical disk portion 31 having aninclined surface 31a, and ashaft portion 32 passing through the central axis of thedisk portion 31. Thefirst hand 10 has afirst surface 11 and asecond surface 12 provided to face thesecond hand 20, thesecond hand 20 has abase surface 21 provided to face thefirst hand 10,grooves 13, 22 for gripping theshaft portion 32 of thepulley 30 are provided in at least one of thefirst surface 11 and thebase surface 21, and an angle β formed by thesecond surface 12 and thebase surface 21 corresponds to an angle α of theinclined surface 31a of thedisc portion 31 of thepulley 30.

Accordingly, thegripping device 100 can grip theshaft portion 32 of thepulley 30 by thegrooves 13 and 22. Thedisk portion 31 of thepulley 30 can be gripped by thesecond surface 12 and thebase surface 21 facing thesecond surface 12. Thus, thegripping device 100 can grip thepulley 30 in a plurality of postures. This eliminates the need to arrange thepulleys 30 in advance so that thegripping device 100 can grip thepulleys 30.

(2) Thegrooves 13 and 22 are constituted byfirst grooves 13a and 22a extending in the longitudinal direction of thefirst hand 10 and thesecond hand 20, andsecond grooves 13b and 22b intersecting thefirst grooves 13a and 22 a.

Accordingly, thegripping device 100 can grip thepulley 30 of which theshaft portion 32 faces the longitudinal direction of thefirst hand 10 and thesecond hand 20 by thefirst grooves 13a and 22 a. Thegripping device 100 can grip thepulley 30 with theshaft 32 facing the other direction by thesecond grooves 13b and 22 b.

(3) Thegrooves 13, 22 are provided on both thefirst surface 11 and thebase surface 21.

Accordingly, the contact range of theshaft portion 32 with thefirst surface 11 and thebase surface 21 is increased. This enables thegripping device 100 to stably grip thepulley 30.

While the embodiments of the present invention have been described above, the above embodiments are merely some examples of the application of the present invention, and the technical scope of the present invention is not intended to be limited to the specific configurations of the above embodiments.

For example, in the above-described embodiment, the case where thegrooves 13 and 22 have a V-shaped cross section perpendicular to the direction in which they extend has been described. However, the cross-sectional shape of thegrooves 13 and 22 is not limited to this, and thegrooves 13 and 22 may be shaped so as to increase the contact range of theshaft 32 with thefirst surface 11 and thebase surface 21. For example, thegrooves 13 and 22 may have an arc shape in cross section along the outer peripheral surface of theshaft portion 32.

In the above embodiment, the case where thegripping device 100 is provided in the robot 1 which is a multi-axis robot is described. However, thegripping device 100 is not limited to being provided on a multi-axis robot. For example, thegripping device 100 may be provided in a cylinder device or the like that can move only in parallel.

Description of the reference numerals

10 a first hand (first finger member); 11 a first side; 12 a second face; 13 grooves; 13a first groove; 13b a second groove; 20 a second hand (second finger); 21 base surface; 22 grooves; 22a first slot; 22b a second groove; 30 pulleys (article); 31a disk portion; 31a inclined surface; 32a shaft portion; 100 hold the device.

Claims (3)

1. A gripping device for gripping an article with a first finger member and a second finger member,

the article has: a conical disk part having an inclined surface, and a shaft part passing through the central axis of the disk part,

the first finger member has a first surface and a second surface provided to face the second finger member,

the second finger member has a base surface disposed opposite the first finger member,

a groove for gripping the shaft portion of the article is provided in at least one of the first surface and the base surface,

an angle formed by the second surface and the base surface corresponds to an angle of the inclined surface of the disc portion of the article.

2. The holding device of claim 1,

the groove is composed of a first groove extending in the longitudinal direction of the first finger member and the second finger member, and a second groove intersecting the first groove.

3. The holding device according to claim 1 or 2,

the groove is provided on both the first surface and the base surface.

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