JPH0123752Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a gripping device used in multi-joint manipulators and robots.

[Prior Art] A gripping device is capable of gripping an object between two or more gripping surfaces by mutually opening and closing two or more fingers supported on a base.

[Problems to be solved by the invention] However, the fingers constituting the conventional gripping device simply swing or move in parallel to open and close, and the gripping surfaces of each finger do not interact with each other under the gripping state. The angle formed is fixed to a constant state.

Therefore, in the conventional grasping device, the shape of the grasped object that each finger can mutually grasp is limited to a specific shape, and it is not possible to stably grasp grasped objects of many different shapes.

Incidentally, Japanese Utility Model Publication No. 54-128268 proposes a gripping device in which the fixing position of the claws relative to the mutually opening/closing finger parts can be adjusted.

However, with this technique, the claws are always fixed to fingers that move in the same direction (towards and away from each other). Therefore, the direction of movement of the claws remains the same whether the straight workpiece shown in FIG. 3a is gripped or the tapered workpiece shown in FIG. 3b is gripped. In other words, in the case of figure a,
The claw moves in a direction perpendicular to its gripping surface.
In this case, the direction of movement of the claws is not perpendicular to the gripping surface.

Therefore, in this conventional gripping device,
When the fixed position of the claw relative to the finger is adjusted so that the direction of movement of the claw is no longer perpendicular to the grasping surface, the surface of the object to be grasped that is to be grasped by the claw is scraped. If the object to be gripped is made of a soft material, the surface to be gripped will be wrinkled.

The purpose of the present invention is to provide a gripping device that can stably grip objects of many different shapes and that does not cause scratches or wrinkles on the gripped surfaces when gripping. .

[Means for Solving the Problem] In order to achieve the above object, the present invention provides a gripping device having three or four fingers that are mutually opened and closed by a finger opening/closing means, wherein at least two fingers each have a base. Each movable bracket provided rotatably on the base is supported so as to be movable in a direction perpendicular to its respective gripping surface, and the rotation position of each movable bracket can be adjusted by a rotation operation means. This makes it possible to adjust the angle that the gripping surfaces of each finger supported by each movable bracket make with each other in the gripping state, and the direction of movement of each finger remains perpendicular to the gripping surface even after the angle of the gripping surface is adjusted. It is configured so that it is set in the direction of

[Example] Hereinafter, an example of the present invention will be described with reference to the drawings.

FIG. 1 shows a gripping device 10 according to an embodiment of the present invention.
FIG. The gripping device 10 includes a detachable section 1
1, it can be attached to and detached from a multi-joint manipulator or robot. One fixed bracket 13 is fixed to the end surface of the base 12 of the gripping device 10, and two movable brackets 14 are rotatably supported. A fixed finger 16 is supported on the fixed bracket 13 via a pin 15 so as to be movable in the gripping direction, and each movable bracket 14 has a
Each movable finger 18 is supported via a pin 17 so as to be movable in the gripping direction. Base 12
A shift device 19 (finger opening/closing means) is protruded from the center of the end surface so that it can reciprocate in a direction perpendicular to the end surface. Annular groove 20 of shift device 19
includes an engaging portion 16A of the fixed finger 16, and each movable finger 18.
The engaging portion 18A is engaged. That is, this gripping device 10 swings the fixed finger 16 and each movable finger 18 around the pins 15 and 17 through the engagement between the annular groove 20 and the engaging portions 16A and 18A by the reciprocating movement of the shift device 19. They move and can be opened and closed mutually.

Further, this gripping device 10 includes a drive section 21 (rotation operation means) on the side of the base 12, and the drive section 21 (rotation operation means).
A rotating plate 22 rotated by the drive of the movable bracket 14 and each movable bracket 14 are connected by a link 23. That is, this gripping device 10 has a drive unit 21
As shown by the arrow in FIG. 1, each movable finger 18 can be rotated around its own axis as shown by the arrow in FIG. The angle is adjustable. Here, the moving direction of each movable finger 18 is set in a direction perpendicular to the gripping surface 18B before and after the angle of the gripping surface 18B is adjusted. Note that both movable fingers 18 are connected to the drive unit 2.
1 rotates in the opposite direction, and both drive fingers 1
The gripping surfaces 18B of No. 8 can always be set at positions that are line symmetrical.

Next, the operation of the above embodiment will be explained.

The gripping device 10 includes a gripping surface 16 of each finger 16, 18.
After setting the mutual angle between B and 18B to a predetermined state, each finger 1 is moved by operating the shift device 19.
6 and 18 are opened and closed to enable grasping of a predetermined shaped object.

Therefore, when each movable finger 18 is set to the position shown in FIG. 2 by the setting operation of the drive unit 21, the gripping surfaces 16B, 18B of each finger 16, 18 are
A round or spherical object 24 whose gripping cross section is circular with a predetermined curvature can be gripped.

Furthermore, when each movable finger 18 is rotated around its own axis from the position shown by the solid line in FIG. The gripping surface 18B is arranged parallel to the gripping surface 16B of the fixed finger 16, and the gripping surfaces 16B, 18B of each finger 16, 18 are capable of gripping a long object 25 having a rectangular gripping cross section.

Here, in the present invention, the angle between the gripping surfaces 16B and 18B of each finger 16 and 18 can be adjusted, and even after adjustment, the direction of movement of each finger 16 and 18 remains unchanged from the gripping surface. 16B, 18
The direction is set perpendicular to B.
For this reason, a round or spherical object 24 as shown in FIG.
When grasping the round or spherical object 24, each finger 16, 18 moves in the centripetal direction to grip the round or spherical object 24.
This means that you can grip it securely. On the other hand, when gripping a long object 25 as shown in FIG.
8 moves in a direction perpendicular to the grasped surface of the long object 25 to grasp the long object 25, thereby preventing scratches, wrinkles, etc. from occurring on the grasped surface of the object to be grasped. be able to.

That is, according to the gripping device 10, by setting each movable finger 18 at a predetermined angular position around its own axis, it is possible to grip objects of many different shapes without causing scratches or wrinkles on the surfaces to be gripped. This makes it possible to stably hold the object without any problems.

In the above embodiment, a case has been described in which the two fingers 18 of the gripping device 10 consisting of the three fingers 16 and 18 are rotated about their own axes in conjunction with each other. However, in the present invention, all three fingers may be rotated about their own axes.

Further, the present invention can be applied to a gripping device having four fingers. At this time, by rotating at least two of the four fingers around their own axes, objects of different shapes can be stably gripped without causing scratches or wrinkles on the surfaces to be gripped. It becomes possible to do so. For example, all four movable fingers 18 can be rotated about their own axes, thereby allowing each movable finger 18 to be placed in the spherical body grasping position as shown in FIG. 4A and in the position shown in FIG. 4B. It can be easily switched to the long object gripping position as shown.

Further, in the present invention, two or more fingers that are rotatable around their own axis do not necessarily have to be interlocked with each other.

[Effects of the invention] As described above, in the present invention, at least two fingers of the gripping device are rotated appropriately depending on the shape of the object to be gripped, so that objects of different shapes can be gripped. However, it can be held stably. Further, even after rotation, the direction of movement of the fingers is perpendicular to the gripping surface, so it is possible to prevent scratches and wrinkles from occurring on the gripped surface.

[Brief explanation of drawings]

1 is a perspective view showing a gripping device according to an embodiment of the present invention, FIG. 2 is a front view showing a gripping state by the gripping device, and FIG. 3 is a front view showing different gripping states by the gripping device, FIG. 4 is a schematic diagram showing a modification of the present invention. 10...Gripping device, 14...Movable bracket,
16... Fixed finger, 16B... Gripping surface, 18... Movable finger, 18B... Gripping surface, 19... Shift device (finger opening/closing means), 21... Drive unit (rotating operation means).

Claims (1)

[Scope of utility model registration request] 3 or 4 mutually opened and closed by finger opening/closing means
A gripping device having two fingers, wherein at least two fingers are supported by movable brackets rotatably provided on a base so as to be movable in a direction perpendicular to each gripping surface, and each movable bracket has two fingers. The rotation position of the device can be adjusted by a rotation operation means, thereby making it possible to adjust the angle that the grip surfaces of each finger supported by each movable bracket form with each other in the grip state, and to adjust the direction of movement of each finger. is a gripping device configured such that even after the angle of the gripping surface is adjusted, it is set in a direction perpendicular to the gripping surface.