JPH0343183A - Holding mechanism - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Object of the Invention] (Industrial Application Field) The present invention relates to a gripping mechanism used in robots, etc., and particularly to a gripping mechanism used in biotechnology-related work where invasion of germs and the like is discouraged. .

(Conventional technology) Conventionally, in the biotechnology field, where the intrusion of germs is averse, when using a gripping mechanism such as a bottle set, the tip is sterilized by heating it by burning it with the flame of an alcohol lamp or gas burner, or by washing it with alcohol. Was. This sterilization work was not a direct work for development or production, but rather an indirect work.

(Problem to be solved by the invention) However, since such indirect work is essential, it is necessary to bring alcohol lamps, gas burners, and alcohol into a clean room that is hygienically controlled. It was occupied.

Particularly recently, much research and development is underway to have robots perform tasks in clean rooms instead of humans. The gripping mechanisms of these robots also had to be sterilized by humans, and when humans entered the clean room, they introduced germs into the clean room.

Moreover, since sterilization work is done quite frequently,
The robot had to stop each time, which significantly reduced work efficiency.

In order to use robots inside lean rooms, it has become necessary to perform sterilization work automatically without using gas burners or alcohol.

The present invention has been made to solve the above-mentioned problems, and provides a gripping mechanism that can automatically sterilize the gripping mechanism without using a separate sterilization tool or fuel as in the past. do.

[Structure of the Invention] (Means for Solving the Problems) In a gripping mechanism having a plurality of gripping claws, the gripping mechanism is provided with a heat generating part provided at least at a portion of the surface of the gripping claws that comes into contact with an object to be gripped or in the vicinity thereof. be.

(Made by M) By applying a voltage from a power source to a conductive wire, the heat-generating part can be heated and sterilized by heating.

(Example) An embodiment of the present invention will be described below with reference to the drawings.

FIGS. 1 and 2 are configuration diagrams showing the configuration of an embodiment of the present invention. The gripping claws (ill, (Ib) are formed of plate-shaped conductive members. These two plates are shown in Fig. 2(b),
As shown in (d), a slit is provided in the center from the base side to the tip of the gripping mechanism, and the width of the slit is widened at the tip so that the cross-sectional area of the plate-shaped conductive member becomes smaller. be. In addition, one side of the base separated by the slit is joined with a conductive joining member or conductive adhesive as shown in Figure 2 (C), and the remaining one is connected as shown in Figure 2 (0). In addition, conductive wires (2, (2b)) are respectively bonded to the bases of the gripping claws (1, (lb)) on the sides of the gripping claws (1, (lb)) that are bonded with the insulator in between.

Furthermore, the other end of the conductive wire (2) is connected to the (-) electrode of the power supply (3), and the conductive wire (2b) is connected to the terminal of the switch (4). Connect a conductive wire (2C) between one terminal and the (+) electrode of the power supply (3).
) is connected to enable power transmission.

The operation of the above embodiment will be explained.

Before using the gripping mechanism, turn on the switch (4) to apply voltage to the gripping mechanism. Current from the power source (3) flows through the conductive wire (2C), the switch (4), and the conductive wire (2b) to the gripping claw (1b). The current that has reached the gripping claw (1b) flows as 341) 4C in Fig. 2 (1), and flows to the gripping claw (1) through the conductive coupling member. 46 → f, and returns to the power source (3) via the conductive wire (20). At this time, when the current flows through the gripping claw (1b) from a-4-b → C, the cross-sectional area of the gripping claw By making it extremely small, the electrical resistance increases,
Electric current generates heat. This heat generation occurs only at the tip, which has a small cross-sectional area, and has a small heat capacity, so it can be heated in a short time.

In addition, since no heat was generated except for the tip by turning the switch (4) to "off," the heat generated at the tip was quickly conducted and diffused to other parts, resulting in rapid cooling.

By configuring the gripping mechanism in this way, sterilization can be automatically and easily performed without preparing other sterilization instruments or chemicals.

As an example of this, FIG. 3 shows an example in which the gripping hand of a robot for transplanting seedlings is used. A robot like this (30
) by using the gripping mechanism (31) of the present invention, complete automation can be achieved by turning on/off a power switch (not shown) using the control device (32) of the robot body.

Note that the present invention is not limited to the tweezers-type grasping hand as described above. Next, a second embodiment of the present invention when used in a gripping mechanism other than the tweezers type will be described with reference to FIG. FIG. 4 is a perspective view showing the shape of the gripping mechanism for three quince.

Three gripping claws (41i), (41b), (41c)
is provided so as to be slidable back and forth on sliding rails provided radially on the housing (42). Gripping claw (4h), (
41b) and (41c) can grip an object by moving back and forth on this sliding rail by a drive mechanism (not shown). This gripping claw (41, (41b)
), (41c) are provided with gripping parts (43g), (43b) and (43c) for abutting on the object. These gripping parts (43e), (43b), (4
3c) Very fine nichrome wires are provided at predetermined intervals on the surface of the portion that comes into contact with the object. Both ends are connected to a power supply device (not shown). When this power supply device is turned on, the nichrome wire on the surface of the contact area generates heat and sterilization is performed.

In this manner, the present invention may provide a heat generating portion at the tip of the gripping claw of an existing robot. Alternatively, a heating element may be buried in the member of the gripping claw in advance, and the heat of the heating element may be conducted to the part where the gripping claw contacts the object to sterilize this contacting part. good.

[Effects of the Invention] As mentioned above, the present invention provides an electric heating section in the gripping mechanism used for research and development in biotechnology, etc., which is sensitive to germs, and performs heat sterilization by applying voltage to the heating section. It can be performed. In addition, since sterilization is performed using electricity, it is suitable for automation of robots, etc., and is ideal for the complete automation of work robots used in plant factories.

[Brief explanation of drawings]

Figures 1 and 2 are configuration diagrams showing the configuration of an embodiment of the present invention, Figure 3 is a perspective view when the embodiment of the present invention is used in a robot, and Figure 4 is a three-claw gripping mechanism. It is a perspective view showing the shape of. 11, lb...grip claw, 2a, 2b... conductive wire. 3...Power supply, 4...Switch.

Claims (1)

[Scope of Claims] A gripping mechanism having a plurality of gripping claws, characterized in that the gripping mechanism is provided with a heat-generating portion provided at least at a portion of the gripping claws that comes into contact with an object to be gripped, or in the vicinity thereof.