JP2013198957A - Holding mechanism, holding device, and robot apparatus - Google Patents

Abstract

For example, by using the gripping force or pressing force of a robot hand capable of gripping small and lightweight parts, the posture of a moving object can be easily changed regardless of control on each axis of a robot arm. .
A contact block (12) having a contact surface (12b) with respect to a gear (3) and a base end block (11) for slidably supporting the contact block (12), the base end in a state where the contact block (12) is in contact with the gear (3). By applying a pressing force to the block 11, the contact block 12 is configured to slide with respect to the proximal block 11, and the sliding surface of the contact block 12 with respect to the proximal block 11 is the pressing direction of the proximal block 11. A gripping device 1 is provided that uses a gripping portion 10 formed with inclined surfaces 11a and 12a that are inclined with respect to a surface orthogonal to the gear 3 and changes the posture of the gear 3.
[Selection] Figure 1

Description

  The present invention relates to a gripping mechanism, a gripping device, and a robot apparatus.

  Conventionally, vertical articulated robots, horizontal articulated robots (scalar robots), orthogonal type robots, and the like have been developed as industrial robots, and these robots are selected according to applications suitable for each feature. In these robots, a gripping unit that grips an object is moved to a target position, and the gripping unit grips the object.

  In such an industrial robot, it is required to efficiently grasp an object having various and various postures in a predetermined posture in automatic assembly and other work processes. For example, in the robot of Patent Document 1, a chuck mechanism that grips an object can be rotated forward and backward around a central axis that supports the chuck itself by a rotation mechanism, and the rotation mechanism itself is rotated downward by a predetermined angle by a swing mechanism. It is possible to rotate within the range.

  By the way, when handling small and lightweight parts with a robot hand of an industrial robot, it is difficult to detect the exact position and orientation of the part with a camera, and it is not possible to accurately position the robot hand to grip the part There is. Further, when the robot hand cannot be accurately positioned, there is a risk that the parts and the robot hand come into contact with each other at an unintended place during the gripping operation. In this case, since the component is lightweight, the component moves in an unintended direction, and the component cannot be gripped at the required position and posture, and the component may jump out of the gripping space.

JP 2009-78312 A

However, the conventional industrial robot has the following problems.
That is, for example, when the gear train assembly is performed using the robot hand described in Patent Document 1, the gears are fitted and phase-matched, and the first gear is passed through the shaft in advance at that time. In this state, the subsequent second gear is rotated, and the second gear is lowered at a position where both gears mesh with each other. On the other hand, it is necessary to hold the second gear with the robot hand and rotate the second gear about the gear shaft as the center of rotation. When rotating with the gears passing through the shaft, for example, the arm of a robot (for example, a six-axis robot) to which the hand is attached is moved largely in an arc orbit, but the control of the robot arm is complicated. And because it was difficult, there was room for improvement.

  The present invention has been made in view of the above-described problems. For example, by using the gripping force or pressing force of a robot hand capable of gripping small and lightweight parts, the robot arm is not controlled by each axis. It is an object of the present invention to provide a gripping mechanism, a gripping device, and a robot device that can easily change the posture of a moving object.

  In order to achieve the above object, the gripping mechanism according to the present invention is a gripping mechanism that changes the posture of the movable body by contacting the movable body, and a contact block having a contact surface with respect to the movable body; A base block that slidably supports the block, and the contact block slides against the base block by applying a pressing force to the base block with the contact block in contact with the moving object. The moving surface is configured such that the sliding surface of the contact block with respect to the proximal block forms an inclined surface that is inclined with respect to the surface orthogonal to the pressing direction of the proximal block.

  Further, the gripping device according to the present invention is a gripping device that changes the posture of the moving body by contacting the moving body, and the contact block having a contact surface with respect to the moving body and the contact block can be slid. A gripping mechanism having a base block that supports the base block, and the gripping mechanism applies a pressing force to the base block in a state where the contact block is in contact with the movable body, so that the contact block is And the sliding surface of the contact block with respect to the proximal block forms an inclined surface that is inclined with respect to a surface perpendicular to the pressing direction of the proximal block.

  According to the present invention, the contact block slides along the inclined surface with the base end block by pressing the base end block in the pressing direction while the contact block is in contact with the movable body. The contact block at this time moves in a direction orthogonal to the pressing direction. Therefore, by bringing the contact surface of the contact block into contact with the movable body in an appropriate direction, the movable body is moved while being held by the static frictional force with the contact block, and the desired posture is accurately obtained. It can be changed. For example, in a state where a plurality of gripping mechanisms are used and the respective contact blocks are held in contact with the outer peripheral surface of the disk-like member, the base end block of each gripping mechanism is pressed in the pressing direction, and each contact block is moved to its inclined surface. And can be moved in the tangential direction of the disk-shaped member, whereby the disk-shaped member can be rotated. In addition, by gripping the plurality of gripping mechanisms with the contact surface of the contact block in the same direction with respect to the moving body, the moving body can be moved in parallel in one direction.

  Further, by adjusting the pressing amount of these gripping mechanisms, it is possible to adjust the moving amount of the moving object (the rotation amount or the rotation angle when rotating the circular member). A positioning operation for finely adjusting the position and orientation can be performed.

  As described above, in the present invention, the posture of the movable body can be changed by applying only the pressing force in the pressing direction to the proximal end block, and this moving mechanism is attached to the distal end of the robot arm to grip the movable body. In this case, the posture of the moving object can be changed only by the gripping force that is the pressing direction. That is, since only the pressing force or the gripping force is applied to the gripping mechanism, the complicated control for the multi-axis robot arm as in the prior art is not required, and the posture of the gripped moving object can be easily changed.

  Further, in the gripping mechanism according to the present invention, the contact block and the base end block may be flat surfaces with respective inclined surfaces.

  According to the gripping mechanism of the present invention, when the proximal block is pressed in the pressing direction, the inclined surfaces of the contact block and the proximal block form a smooth plane, so that the contact block is along the inclined surface. Slide.

  In the gripping mechanism according to the present invention, the proximal block and the contact block are urged to each other by their inclined surfaces, and the urging direction of the proximal block and the contact block and the inclined direction of the inclined surface are the same. It is preferable to do it.

  According to the gripping mechanism of the present invention, when the base end block is pressed in the pressing direction, the contact block slides along the inclined surface against urging. When the pressing force against the proximal block is released, the contact block can be returned to the original position (initial position) along the inclined surface by the biasing force.

  In the gripping mechanism according to the present invention, a concave groove extending along the sliding direction is provided on one of the inclined surfaces of the proximal block and the contact block, and sliding along the concave groove on the other inclined surface. It is preferable that a convex portion that can be engaged and guided in the groove is provided.

  According to this gripping mechanism, by pressing the base end block in the pressing direction, the convex portion is guided along the concave groove on the inclined surface, and the contact block can be slid with respect to the base end block. That is, since the concave groove serves as a guide for the convex portion, the accuracy in the sliding direction of the contact block can be improved.

  In the gripping mechanism according to the present invention, the concave groove may be inclined with respect to a direction orthogonal to a plane including the pressing direction and the inclined direction forming the inclined surface.

  In this case, not only the direction parallel to the plane including the pressing direction and the inclination direction, but also the contact block toward the arbitrary direction by providing the concave groove in an arbitrary direction inclined with respect to the direction orthogonal to the plane. Can be moved.

  In the gripping mechanism according to the present invention, the concave groove may accommodate a biasing member that biases the sliding of the convex portion.

  In this case, when the base end block is pressed in the pressing direction, the convex portion provided on either the base end block or the contact block is opposed to the biasing member such as a spring to form a concave groove on the inclined surface. Slide along. And when the pressing force with respect to a base end block is cancelled | released, a convex part can be returned to an original position (initial position) along a ditch | groove with the urging | biasing force of an urging | biasing member.

  In the gripping mechanism according to the present invention, it is preferable that the inclined surfaces of the proximal end block and the contact block are provided with stepped portions that engage with each other and extend along the sliding direction.

  In the present invention, the contact block can be guided and slid along the stepped portion by pressing the proximal block in the pressing direction. That is, the stepped portion extending along the inclined surface serves as a guide for the contact block, so that the accuracy in the sliding direction of the contact block can be improved.

  Moreover, in the holding | grip mechanism which concerns on this invention, the level | step-difference part may incline with respect to the direction orthogonal to the plane containing the pressing direction and the inclination direction which makes an inclined surface.

  In this case, not only the direction parallel to the plane including the pressing direction and the inclination direction but also the contact block toward the arbitrary direction by inclining the step portion in an arbitrary direction inclined with respect to the direction orthogonal to the plane. Can be moved.

  In the gripping mechanism according to the present invention, it is preferable that a friction member is provided on the contact surface of the contact block.

  In the present invention, since the static friction force with respect to the movable body of the contact block that slides with respect to the base block can be increased, the gripping force of the contact block with respect to the movable body is increased. Therefore, it is possible to prevent slippage between the contact block and the movable body, and the posture can be accurately changed by moving the movable body in a desired direction along with the sliding of the contact block.

  In the gripping device according to the present invention, the movable body is a disk-shaped member, and a plane including the tilt direction of the tilted surface of the gripping mechanism and the tangential direction of the disk-shaped member is orthogonal to the central axis of the disk-shaped member. The flat surface is preferably arranged in parallel with each other, and is provided so as to be gripped by bringing the outer peripheral surface of the disk-shaped member into contact with the contact block by two or more gripping mechanisms.

  In the present invention, for example, the base block of each gripping mechanism is pressed toward the pressing direction in a state where the surface orthogonal to the pressing direction of the contact block of the gripping mechanism is in contact with the outer peripheral surface of a disk-like member such as a gear. Since the contact block slides along the inclined surface, the disk-shaped member can be moved together with the contact block. At this time, since a plurality of locations on the outer peripheral surface of the disc-shaped member are gripped by two or more gripping mechanisms, the disc-shaped member can be rotated around its central axis by synchronizing these gripping mechanisms.

  Further, in the gripping device according to the present invention, the contact surface of the movable body with the contact block is provided so as to be grippable by the contact blocks of two or more gripping mechanisms. May be parallel to the surface.

  In this case, since the contact surfaces of the two or more gripping mechanisms are parallel to the pressing direction, the moving object gripped by these gripping mechanisms is parallel to the direction orthogonal to the pressing direction. Can be moved.

  Moreover, in the holding | gripping apparatus which concerns on this invention, it is preferable that the base end blocks of a some holding | grip mechanism are connected by the support member.

  In the present invention, by applying a pressing force (gripping force) to one support member, the pressing force can be efficiently transmitted to a plurality of gripping mechanisms simultaneously. Since it is not necessary to provide a mechanism for applying a pressing force to each of the plurality of gripping mechanisms, there is an advantage that the apparatus can be made a simple structure.

  In the gripping device according to the present invention, it is preferable that the movable body is a gear, and a contact portion of the contact block is formed with a groove portion that can mesh with the gear.

In the present invention, the gear can be rotated by the movement of the contact block by gripping the gripping mechanism with respect to the gear while the groove portion of the contact block and the groove of the gear are engaged with each other. And since a contact block and a gearwheel are hold | maintained by meshing, both sliding at the time of a movement can be prevented.
In this case, for example, a particularly excellent effect can be exhibited in the case of performing the gear train assembly in which the rear gear is meshed in phase with the previously assembled gear.

  In the gripping device according to the present invention, the opening speed of the gripping mechanism when releasing the gripping state of the moving body is a speed at which the contact surface of the contact block that grips the moving body by the static friction force causes slipping. It is preferable.

  In the present invention, when the moving object is moved together with the contact block, when the contact block is opened, the moved moving object and the contact block slide on the contact surface, and only the contact block is returned to the original position. Can do. That is, the moving object does not return to the original position (posture) together with the contact block, and is gripped by the contact block at a different position. Then, by repeating such pressing, moving and releasing operations, it becomes possible to move the moving object in the same direction by intermittently repeating.

  Further, the robot apparatus according to the present invention is a robot apparatus that changes the posture of the moving object by contacting the moving object, and can slide the contact block having a contact surface with the moving object and the contact block. A gripping mechanism having a base block that supports the base block, and the gripping mechanism applies a pressing force to the base block in a state where the contact block is in contact with the movable body, so that the contact block is And the sliding surface of the contact block with respect to the proximal block forms an inclined surface that is inclined with respect to a surface perpendicular to the pressing direction of the proximal block.

  According to the present invention, it is possible to provide a robot apparatus capable of simply grasping various objects including different shapes and dimensional differences at low cost.

It is a top view which shows the whole structure of the holding | gripping apparatus by the 1st Embodiment of this invention. It is a perspective view which shows the whole structure of the holding mechanism of the holding apparatus shown in FIG. It is AA sectional view taken on the line shown in FIG. 2, Comprising: It is a sectional side view of a holding | grip mechanism. It is a sectional side view for demonstrating operation | movement of a holding | grip mechanism, Comprising: It is a figure of the state which the contact block slid on the inclined surface. It is a top view which shows the state which rotated the gearwheel with the holding | gripping apparatus shown in FIG. It is a side view which shows the whole structure of the holding | gripping apparatus by 2nd Embodiment. It is a BB arrow directional view shown in FIG. It is a sectional side view which shows the whole structure of the holding | gripping apparatus by 3rd Embodiment, (a) is a figure which shows before a movement, (b) is a figure which shows after a movement. FIG. 9 is a side cross-sectional view of a gripping device according to a first modification of the third embodiment shown in FIG. 8 and shows a state after movement. It is a top view which shows the whole structure of the holding | gripping apparatus by 4th Embodiment. It is a sectional side view of the holding apparatus shown in FIG. It is a perspective view which shows the whole outline | summary of the holding | grip mechanism by 5th Embodiment, (a) is a figure of the state which decomposed | disassembled the base end block and the contact block, (b) is a figure of the assembled state. It is a top view shown in FIG.12 (b), (a) is a figure before a movement, (b) is a figure after a movement. It is a side view of the holding part shown in FIG.13 (b). It is a side view which shows the whole outline | summary of the holding | grip mechanism by 6th Embodiment. It is a side view which shows the whole structure of the holding | gripping apparatus by a 2nd modification. It is a perspective view which shows the holding mechanism by the modification of 5th Embodiment, Comprising: It is the figure which combined the base end block and the contact part lock | rock. It is a perspective view which shows the holding | grip mechanism by the modification of 5th Embodiment, Comprising: It is the figure which decomposed | disassembled the base end block and the contact part lock | rock. It is a perspective view which shows the robot hand by 6th Embodiment. It is a top view of the robot hand shown in FIG. 19, Comprising: (a) is a figure which shows the state before rotating a gearwheel, (b) is a figure which shows the state which rotated the gearwheel. It is a perspective view which shows the robot main body by 7th Embodiment. It is a perspective view which shows the robot main body by 8th Embodiment. It is a perspective view which shows the robot hand by 9th Embodiment.

  Hereinafter, a gripping mechanism, a gripping apparatus, and a robot apparatus according to embodiments of the present invention will be described with reference to the drawings. In the following drawings, in order to make each configuration easy to understand, the actual structure is different from the scale and number of each structure.

(First embodiment)
As shown in FIG. 1, the gripping device 1 according to the first embodiment is used by being attached to the tip of a robot arm of an industrial robot that grips an object such as a tool or a part, and makes contact with a moving object. Thus, the posture of the moving object is changed.

The gripping device 1 includes a plurality of (here, four) gripping units 10 (10A to 10D) (a gripping mechanism) capable of pressing the outer peripheral surface 3a of the disk-shaped gear 3 (movable body, disk-shaped member) from the outside. And a support member 2 (2A, 2B) that transmits a gripping force (pressing force) from a robot arm (not shown) to the gripping part 10.
Here, the rotation axis of the gear 3 is referred to as the gear axis O, the direction along the gear axis O direction is referred to as the up-down direction, and the direction around the gear axis O is referred to as the circumferential direction. The gear 3 shown in FIGS. 1 and 5 has a circular shape with the tooth portion omitted for easy viewing.

  In addition, the gripping device 1 is orthogonal to the second plane along the two directions of the tilting direction B of the inclined surfaces 11 a and 12 a (described later) of the gripping unit 10 and the tangential direction T of the gear 3 and the gear axis O of the gear 3. It arrange | positions so that a 3rd plane may become parallel.

  The gripping unit 10 can rotate the gear 3 around the gear axis O by being attached to the tip of a robot hand (not shown). And support member 2A, 2B is bent in the shape of a square at the center part of the length direction, and the said holding part 10 is provided in the inner corner side of the both ends of the length direction. In the gripping device 1, the two support members 2 </ b> A and 2 </ b> B including the pair of gripping portions 10 </ b> A and 10 </ b> B can be arranged at positions that are symmetrical with respect to the gear shaft O of the gear 3.

As shown in FIGS. 2 and 3, the grip portion 10 includes a contact block 12 having a contact surface 12 b for the gear 3, and a proximal block 11 that supports the contact block 12 so as to be slidable. The proximal block 11 and the contact block 12 are connected to each other by a spring material 13 (biasing member). And the holding | grip part 10 applies the pressing force (the pressing direction at this time is made into code | symbol X) to the base end block 11 in the state which made the contact block 12 contact the gearwheel 3, and the contact block 12 becomes base end. The sliding surface of the contact block 12 with respect to the base block 11 is configured to slide with respect to the block 11, and inclined surfaces 11 a and 12 a that are inclined with respect to a surface orthogonal to the pressing direction X of the base block 11. Forming.
The spring material 13 urges each of the inclined surfaces 11a and 12a of the base end block 11 and the contact block 12, and the urging direction of the base end block 11 and the contact block 12, and the inclined direction of the inclined surfaces 11a and 12a, , Match.
The four gripping portions 10 </ b> A to 10 </ b> D are arranged in directions in which the inclined directions B of the inclined surfaces 11 a and 12 a are equal to the tangential direction T, respectively.

Next, the operation of the gripping device 1 and the gripping unit 10 described above will be described in detail.
As shown in FIGS. 1 to 5, in the gripping device 1 according to the present embodiment, the contact block 12 is pressed in the pressing direction X while the contact block 12 is in contact with the gear 3. Slides along the inclined surfaces 11 a and 12 a with the base end block 11. At this time, the contact block 12 moves in a direction orthogonal to the pressing direction X (movement direction Y). Therefore, by bringing the contact surface 12b of the contact block 12 into contact with the gear 3 in an appropriate direction, the gear 3 is moved while being gripped by the static frictional force with the contact block 12, and the desired posture is accurately obtained. It becomes possible to change to.
Then, using the four gripping portions 10A to 10D, in the state of gripping the respective contact blocks 12 in contact with the outer peripheral surface 3a of the gear 3, the base end block 11 of each gripping portion 10 is pressed in the pressing direction X, Each of the contact blocks 12 can be slid along the inclined surfaces 11a and 12a to move in the tangential direction T (movement direction Y) of the gear 3, thereby rotating the gear 3 around the gear axis O. it can.

  Further, the grip portion 10 can adjust the amount of movement (rotation amount or rotation angle) of the gear 3 by adjusting the amount of pressing against the base end block 11, so that the position and posture of the gear 3 can be adjusted. A positioning operation for fine adjustment can be performed.

  Thus, the posture of the gear 3 can be changed by applying only the pressing force in the pressing direction X to the proximal block 11, and the gripping portion 10 is attached to the tip of a robot arm (not shown) to grip the gear 3. In this case, the posture of the gear 3 can be changed only with the gripping force in the pressing direction X. That is, since only the pressing force or the gripping force is applied to the gripping portion 10, complicated control for the multi-axis robot arm is not required as in the prior art, and the posture of the gripped gear 3 can be easily changed.

  Moreover, since the spring material 13 which connects the base end block 11 and the contact block 12 by the inclined surfaces 11a and 12a is provided, when the base end block 11 is pressed in the pressing direction X, the contact block 12 is spring material. 13 slides along the inclined surfaces 11a and 12a. And when the pressing force with respect to the base end block 11 is cancelled | released, the contact block 12 can be returned to the original position (initial position) along the inclined surfaces 11a and 12a with the urging | biasing force of the spring material 13. FIG.

  Further, when the base end block 11 of each gripping part 10 is pressed in the pressing direction X in a state where the surface orthogonal to the pressing direction X of the contact block 12 of the gripping part 10 is in contact with the outer peripheral surface 3a of the gear 3, Since the contact block 12 slides along the inclined surfaces 11 a and 12 a, the gear 3 can be moved together with the contact block 12. At this time, since a plurality of locations on the outer peripheral surface 3a of the gear 3 are gripped by the four gripping portions 10A to 10D, the gear 3 is rotated around the gear axis O by synchronizing these gripping portions 10A to 10D. be able to.

  Further, since the base end blocks 11 of the plurality (two) of the gripping portions 10 are connected by the support member 2, by applying a pressing force (gripping force) to one support member 2, the pressing force is reduced to two At the same time, it can be efficiently transmitted to the grip 10. In this case, there is no need to provide a mechanism for applying a pressing force to each of the two gripping portions 10, so there is an advantage that the device can have a simple structure.

  Furthermore, in the gripping device 1 of the present embodiment, a groove (not shown) that can mesh with the gear 3 may be formed on the contact surface of the contact block 12. In this case, the gear 3 can be rotated by the movement of the contact block 12 by gripping the grip portion 10 with respect to the gear 3 in a state where the groove portion of the contact block 12 and the groove of the gear 3 are engaged with each other. And since the contact block 12 and the gearwheel 3 are hold | maintained by meshing, both sliding at the time of a movement can be prevented. In this case, for example, a particularly excellent effect can be exhibited in the case of performing the gear train assembly in which the rear gear is meshed in phase with the previously assembled gear.

Furthermore, in the gripping device 1 of the present embodiment, when the gripping state of the gear 3 is released, the opening speed of the gripping portion 10 is determined so that the contact surface 12b of the contact block 12 that grips the gear 3 with static friction force slips. It is also possible to adopt a configuration in which the gear 3 is repeatedly moved (rotated) by setting the generated speed.
That is, when the contact block 12 is released while the gear 3 is rotated along with the movement of the contact block 12, the rotated gear 3 and the contact block 12 slide on the contact surface 11b, and only the contact block 12 is moved to the original position. Can be returned to. That is, the gear 3 does not return to the original position (posture) together with the contact block 12 and is gripped by the contact block 12 at a different position. By repeating such pressing, rotating, and releasing operations, the gear 3 can be intermittently repeated to rotate in the same direction.

  It is also possible to provide the above-described gripping device 1 in a robot hand (not shown) at the tip of a multi-axis robot arm, thereby easily gripping various objects including different shapes and dimensional differences at low cost. It is possible to provide a robot apparatus capable of performing the above.

  In the above-described gripping mechanism, gripping device, and robot apparatus according to the present embodiment, the contact block 12 is brought into contact with the gear 3 by using the gripping force or pressing force of a robot hand capable of gripping small and lightweight parts, for example. By pressing the proximal block 11 in the pressing direction X in the state, the contact block 12 slides along the inclined surfaces 11a and 12a with the proximal block 11, and the gear 3 is moved along with the movement of the contact block 12. Therefore, the posture of the gear 3 can be easily changed regardless of the control on each axis of the robot arm.

  Next, other embodiments of the gripping mechanism, gripping device, and robot apparatus according to the present invention will be described with reference to the accompanying drawings. However, the same or similar members and parts as those of the first embodiment described above are included. The same reference numerals are used to omit the description, and a configuration different from the first embodiment will be described.

(Second Embodiment)
As shown in FIG. 6, the gripping device 1 </ b> A according to the second embodiment has a configuration in which the proximal end block 11 and the contact block 12 are shifted in the width direction Z in the gripping portion 10. Further, the side contact surface 12 c (see FIG. 2) of the contact block 12 projecting in the width direction Z is held in contact with the outer peripheral surface 3 a of the gear 3. Also in this case, a plurality of gripping portions 10 (two are shown in FIG. 6) are arranged at a predetermined interval with respect to the outer peripheral surface 3a of the gear 3. In the gripping device 1A, the pressing direction X is arranged in a direction orthogonal to the outer peripheral surface 3a of the gear 3, and the tilt direction B of the tilted surfaces 11a and 12a of the grip 10 and the tangential direction T of the gear 3 are the gears. 3 in a direction along a plane orthogonal to the central axis O (see FIG. 1).

  In this case, the support block 2 pushes the proximal end block 11 of the gripping part 10 toward the gantry 4 side (lower side), so that the contact block 12 is inclined upward along the inclined surfaces 11a and 12a as shown in FIG. Thus, the gear 3 can be lifted upward from the gantry 4 and rotated about the gear axis O.

(Third embodiment)
A gripping device 1B according to the third embodiment shown in FIG. 8 shows an example in which gripping is performed by changing the orientation of the gripping portion 10 with respect to the gear 3.
Specifically, as shown in FIG. 8A, in the gripping unit 10, the second plane including the pressing direction X and the inclination direction B and the third plane orthogonal to the gear axis O of the gear 3 are parallel to each other. Are arranged as follows. And the inclination direction B (inclination surface 11a, 12a) of the holding | grip part 10 is arrange | positioned so that it may extend in the direction which leaves | separates from the gearwheel 3 gradually as it goes upwards.
In this case, as shown in FIG. 8 (b), when the pressing direction X becomes the horizontal direction and the plurality of proximal blocks 11 are pressed, the contact blocks 12 slide upward along the inclined surfaces 11a and 12a, respectively. Thus, the gear 3 held by the plurality of holding portions 10 can be moved upward together with the contact block 12. That is, the gear 3 can be moved in parallel in one direction by gripping the plurality of gripping portions 10 with the contact surfaces 12b of the respective contact blocks 12 parallel to the gear 3.

  Further, as shown in the first modified example of FIG. 9, in the gripping device 1B according to the third embodiment described above, the tilt direction B (the tilted surfaces 11a and 12a) of the gripping portion 10 gradually increases as it goes downward. You may make it arrange | position so that it may extend in the direction away from 3. FIG. In this case, when the plurality of base end blocks 11 are pressed, the contact block 12 slides downward along the inclined surfaces 11a and 12a, thereby causing the gear 3 held by the plurality of holding portions 10 to contact with the contact block 12. 12 can be moved downward together.

(Fourth embodiment)
As shown in FIG. 10, the gripping device 1 </ b> C according to the fourth embodiment includes two gripping portions provided on one of the two support members 2 of the first embodiment described above. It arrange | positions so that the gearwheel 3 may be moved to the up-down direction described in the form.

When arranged in this way, as shown in FIG. 11, the gear 3 can be moved in the vertical direction H and moved in the left-right direction (rotation direction E) at the same time. By adjusting the frictional force between them, the gear 3 can be rotated while being tilted upward. For example, as a method of adjusting the frictional force, a friction member (not shown) such as a rubber material can be provided on the contact surface. Specifically, the frictional force in the rotational direction is increased, for example, by providing a groove portion that meshes with the groove of the gear 3 in the first contact block 12A that is moved in the rotational direction. On the other hand, in the second contact block 12B that moves in the vertical direction H, the frictional force in the vertical direction is increased, and the rotational static frictional force in the rotational direction is greater than the rotational force of the gear 3 that is rotated by the first contact block 12A. Make it smaller.
As a result, in the fourth embodiment, the gear 3 can be moved upward while rotating in the second contact block 12B. For example, the gear 3 is moved to a shaft (not shown) while being tilted to the left and right. It is possible to perform an operation such as passing through.

(Fifth embodiment)
12 (a) and 12 (b), the grip portion 10 according to the fifth embodiment is provided with a concave groove 14 extending along the sliding direction on the inclined surface 11a of the proximal block 11, and The inclined surface 12 a is configured to be provided with a convex portion 15 that is slidably engaged along the concave groove 14 and is guided by the concave groove 14. The concave groove 14 is inclined with respect to a direction orthogonal to the first plane including the pressing direction X and the inclination direction B.

According to this gripping part 10, as shown in FIGS. 13 (a), 13 (b), and 14, the convex part 15 is formed on the inclined surfaces 11a and 12a by pressing the proximal block 11 in the pressing direction X. Guided along the recessed groove 14, the contact block 12 can be slid with respect to the proximal block 11. That is, the grooves 14 are provided not only in the direction parallel to the first plane along the two directions of the pressing direction X and the tilt direction B but also in any direction tilted with respect to the direction orthogonal to the first plane. Thus, the contact block 12 can be moved in the arbitrary direction.
Further, since the concave groove 14 serves as a guide for the convex portion 15, the accuracy of the sliding direction of the contact block 12 can be improved.
For example, instead of the gripping portion 10 shown in FIG. 1 according to the first embodiment described above, a gripping force is applied by using the gripping portion 10 having the concave groove 14 and the convex portion 15 of the fifth embodiment. The gear 3 can be rotated while being gradually inclined obliquely upward.

(Sixth embodiment)
In the gripping portion 10 according to the sixth embodiment shown in FIG. 15, the stepped portion 16 that engages with each other and extends along the sliding direction on the inclined surfaces 11 a and 12 a of the proximal block 11 and the contact block 12. Is provided. And this level | step-difference part 16 inclines in the direction orthogonal to the 1st plane along the bidirectional | two-way of the pressing direction X and the inclination direction B (refer FIG. 14).

  In the present embodiment, the contact block 12 can be guided and slid along the step portion 16 by pressing the proximal block 11 in the pressing direction X. That is, the stepped portion 16 extending along the inclined surface 11a serves as a guide for the contact block 12, so that the accuracy of the sliding direction of the contact block 12 can be improved.

  The embodiments of the gripping mechanism, the gripping device, and the robot apparatus according to the present invention have been described above. However, the present invention is not limited to the above-described embodiments, and can be appropriately changed without departing from the scope of the present invention. is there.

  For example, in the above-described embodiment, the grip unit 10 and the gripping devices 1 and 1A to 1C are provided at the tip of a robot hand (robot arm) (more specifically, refer to sixth to eighth embodiments described later). However, the present invention is not limited to this, and a pressing force may be applied to the grip portion 10 of the present embodiment by a configuration other than these robot hands (robot arms). For example, as shown in FIG. 16, the grip portion 10 of the third embodiment described above can be attached to the parallel chuck 17.

  Moreover, in embodiment mentioned above, as the structure which provides the spring material 13, the ditch | groove 14, the convex part 15, or the level | step-difference part 16 between the inclined surface 11a of the base end block 11, and the inclined surface 12a of the contact block 12. FIG. However, the present invention is not limited to this, and the inclined surfaces 11a and 12a form a smooth plane, and the contact block 12 is supported so as to be slidable in a non-biased state with respect to the proximal block 11. A gripping mechanism having a configuration may be used.

  Further, in the fifth embodiment described above, as shown in FIGS. 17 and 18, the spring material 13 (biasing member) that biases the sliding of the convex portion 15 is accommodated in the concave groove 14. Also good. In this case, when the proximal end block 11 is pressed in the pressing direction X, the convex portion 15 provided on the contact block 12 resists the spring material 13 along the concave grooves 14 of the inclined surfaces 11a and 12a. Slide. And when the pressing force with respect to the base end block 11 is cancelled | released, the convex part 15 can be returned to the original position (initial position) along the concave groove 14 with the urging | biasing force of the spring material 13. FIG.

In the present embodiment, the concave groove 14 is provided on the inclined surface 11a of the proximal block 11 and the convex portion 15 is provided on the inclined surface 12a of the contact block 12. However, the convex portion 15 is provided on the proximal block 11 side. It is possible to provide the groove 14 on the contact block 12 side.
Furthermore, although the groove 14 is configured to be inclined with respect to a direction orthogonal to the first plane including the pressing direction X and the inclination direction B, the groove extends in a direction orthogonal to the first plane. But of course it doesn't matter.

  Furthermore, as shown in FIG. 19 and FIGS. 20A and 20B, the sixth embodiment provides the robot hand 20 with the gripping device 1 (see FIG. 1) according to the first embodiment described above. It is provided. In FIG. 20, the shape of the gear 3 of FIG. 19 is shown as a circle. The robot hand 20 includes a hand part 21 and a pair of support parts 22A, 22B extending from the hand part 21, and the gripping device 1 (1A, 1B) is provided at the tip of each of the support parts 22A, 22B. Connected through. The pair of support portions 22A and 22B are provided so as to be slidable in directions close to and away from each other, although a sliding mechanism is not shown. That is, in the present embodiment, one robot hand 20 is provided with four gripping portions 10, and the support portions 22 </ b> A and 22 </ b> B are brought close to each other in a state where the gear 3 is gripped by these four gripping portions 10 (FIG. 20). When the gear 3 is pressed by the four gripping portions 10 while being slid in the direction of the arrow (b), the contact block 12 moves in the direction of the inclined surface with respect to the base end block 11, thereby rotating to the gear 3. Power is given. In FIG. 19, the support portions 22A and 22B are bent at a predetermined angle at an intermediate portion in the extending direction, but the configuration such as the bending angle and the length dimension can be appropriately set.

  Further, as in the seventh embodiment shown in FIG. 21, the robot hand 20 including the gripping device 1 according to the sixth embodiment described above can be incorporated into the robot body 30. The robot body 30 includes a support base 31 fixed to the ground, and an arm portion 32 connected to the support base 31 so as to be capable of turning and bending, and the arm portion 32 is capable of turning and swinging. The robot hand 20 is connected. The robot body 30 is, for example, a seven-axis vertical articulated robot, and has a degree of freedom of seven axes by an operation in which the support base 31, the arm unit 32, and the robot hand 20 are linked. That is, the seven degrees of freedom are six degrees of freedom of six axes by the support base 31 and the arm part 32 and one degree of freedom of the robot hand 20. The robot main body 30 according to the present embodiment includes a robot control device 33 and further includes a photographing device 35 via a cable 34. That is, in the present embodiment, a robot control command is output from the robot control device 33 to which a photographed image obtained by photographing with the photographing device 35 is supplied, and the drive of the arm unit 32 and the robot hand 20 is controlled. ing.

  Furthermore, as in the eighth embodiment shown in FIG. 22, a double-armed robot main body 40 can be provided. The robot main body 40 includes a main body portion 41 movably installed on the ground, a neck portion 42 connected to the main body portion 41 so as to be able to turn, a head 43 fixed to the neck portion 42, and a turnable and A schematic configuration including a pair of arm portions 44 (44A, 44B) coupled to the head portion 43 so as to be able to bend and stretch, and a transport portion 45 that is attached to the main body portion 41 so as to be movable with respect to the installation surface Has been. The main body 41 is provided with a robot control device 46 via a cable 47. A robot hand 20 including the gripping device 1 is connected to the open ends of the arm portions 44A and 44B. Also in the eighth embodiment, as in the seventh embodiment, a robot control command is output from the robot control device 46 based on an image photographed by a photographing device (not shown), and the arm unit 44 or the robot hand. The drive of 20 is controlled.

  Furthermore, as shown in FIG. 23, the robot hand 20A of the ninth embodiment is a modification of the above-described sixth embodiment, and includes a single gripping device 1 in the hand unit 23. It has become. That is, the support member 2 of one gripping device 1 is connected to the tips of a pair of support portions 24 extending from the hand portion 21.

  In addition, it is possible to appropriately replace the components in the above-described embodiments with known components without departing from the spirit of the present invention.

1, 1A, 1B Gripping device 2 Support member 3 Gear (movable body)
4 Mount 10 Gripping part (gripping mechanism)
11 base block 11a inclined surface 12 contact block 12a inclined surface 12b, 12c contact surface 13 spring material (biasing member)
14 Concave groove 15 Convex part 16 Step part 17 Parallel chuck 20, 20A Robot hand 21, 23 Hand part 22A, 22B, 24 Support part 30, 40 Robot body 32, 44 Arm part B Inclination direction O Gear shaft T Tangential direction X Pressing direction

Claims (16)

A gripping mechanism that changes the posture of the movable body by bringing it into contact with the movable body,
A contact block having a contact surface for the object to be moved;
A proximal block that slidably supports the contact block;
With
In a state where the contact block is in contact with the movable body, by applying a pressing force to the base block, the contact block is configured to slide with respect to the base block,
The gripping mechanism, wherein the sliding surface of the contact block with respect to the proximal block forms an inclined surface that is inclined with respect to a surface orthogonal to the pressing direction of the proximal block.   The gripping mechanism according to claim 1, wherein each of the contact block and the base end block has a smooth flat surface. The proximal block and the contact block are biased to each other by the inclined surfaces,
2. The gripping mechanism according to claim 1, wherein an urging direction of the base block and the contact block coincides with an inclination direction of the inclined surface.   A concave groove extending along the sliding direction is provided on one of the inclined surfaces of the base end block and the contact block, and the other inclined surface is slidably engaged along the concave groove, The gripping mechanism according to any one of claims 1 to 3, wherein a convex portion guided by the concave groove is provided.   The gripping mechanism according to claim 4, wherein the concave groove is inclined with respect to a direction orthogonal to a plane including the pressing direction and an inclined direction forming the inclined surface.   The gripping mechanism according to claim 4 or 5, wherein a biasing member that biases sliding of the convex portion is accommodated in the concave groove.   4. A stepped portion that engages with each other and extends in the sliding direction is provided on each inclined surface of the base block and the contact block. The gripping mechanism described in 1.   The gripping mechanism according to claim 7, wherein the stepped portion is inclined with respect to a direction orthogonal to a plane including the pressing direction and an inclined direction forming the inclined surface.   The gripping mechanism according to any one of claims 1 to 8, wherein a friction member is provided on a contact surface of the contact block. A gripping device that changes the posture of the movable body by bringing it into contact with the movable body,
A gripping mechanism having a contact block having a contact surface with respect to the object to be moved, and a proximal block that slidably supports the contact block;
The gripping mechanism is
In a state where the contact block is in contact with the body to be moved, the contact block slides relative to the base end block by applying a pressing force to the base end block.
The gripping device according to claim 1, wherein the sliding surface of the contact block relative to the proximal block forms an inclined surface that is inclined with respect to a surface orthogonal to the pressing direction of the proximal block. The movable body is a disk-shaped member,
The plane including the inclination direction of the inclined surface of the gripping mechanism and the tangential direction of the disk-shaped member and the plane orthogonal to the central axis of the disk-shaped member are arranged in parallel.
The gripping device according to claim 10, wherein the gripping device is provided so as to be gripped by bringing the outer peripheral surface of the disk-shaped member into contact with the contact block by two or more gripping mechanisms. Provided on the contact surface of the movable body with the contact block so as to be gripped by the contact blocks of the two or more gripping mechanisms;
The gripping device according to claim 10, wherein each of the gripping mechanisms has a contact surface of the contact block parallel to the pressing direction.   The gripping device according to any one of claims 9 to 12, wherein proximal blocks of the plurality of gripping mechanisms are connected by a support member. The object to be moved is a gear,
The gripping device according to any one of claims 9 to 13, wherein a groove portion that can mesh with the gear is formed on a contact surface of the contact block.   The release speed of the gripping mechanism when releasing the gripping state of the movable body is a speed at which slip occurs on the contact surface of the contact block that grips the movable body by a static frictional force. Item 15. The gripping device according to any one of Items 9 to 14. A robot apparatus that changes a posture of a moving object by contacting the moving object,
A gripping mechanism having a contact block having a contact surface with respect to the object to be moved, and a proximal block that slidably supports the contact block;
The gripping mechanism is
In a state where the contact block is in contact with the body to be moved, the contact block slides relative to the base end block by applying a pressing force to the base end block.
The robot device according to claim 1, wherein a surface on which the contact block slides with respect to the proximal block forms an inclined surface that is inclined with respect to a surface orthogonal to a pressing direction of the proximal block.

Images