JP7806492B2 - Gripping device, gripping robot, gripping device control method, and gripping device control program - Google Patents

Description

The present invention relates to a gripping device, etc.

Industrial robots equipped with gripping devices are widely used in industrial production sites. These gripping devices are designed to grip objects. In recent years, production sites have been shifting from small-variety, large-volume production to small-variety, large-volume production, and even to variable-variety, variable-volume production. As a result, gripping devices are being required to grip objects in a variety of positions and place them in different positions.

As described above, a gripping device technology capable of grasping (picking up) and placing (placing) objects in various positions is disclosed, for example, in Patent Document 1. This gripping device has a set of slide units and a support unit. Each of the slide units slides toward or away from each other along a slide axis. A support unit is fixed to each of the slide units. The gripping device also has a spline shaft parallel to the slide axis and a rotation servo motor that rotates the spline shaft about its axis. It also has a rotating unit and multiple gripping claws. The rotating unit is attached to the tip of the support unit and is rotatable about a rotation axis parallel to the slide axis in response to the rotation of the spline shaft. The multiple gripping claws are attached perpendicular to the rotation axis and oriented in different directions. This gripping device also rotates the gripping claws in response to the rotation of the spline shaft through a combination of multiple pulleys and belts. This movement allows the angle of the gripping claws to be changed, making it possible to accommodate the pickup and placement of objects with different postures. It is also possible to switch between multiple gripping claws and select the gripping claw that is most suitable for the object.

Japanese Patent Application Laid-Open No. 2012-236258

However, in the technology of Patent Document 1, the gripping jaws are rotated by a pulley and belt, which results in a large number of parts and a complex configuration.

The present invention was made in consideration of the above problems, and aims to provide a gripping device or the like that has a simple configuration and can change the posture of a gripped object.

In order to solve the above problem, the gripping device of the present invention comprises a first shaft, a first support part that supports the first shaft, a first gripping claw supported on the first shaft so as to be rotatable around a first central axis that is the central axis of the first shaft, a first anti-slip member that is disposed on the outer periphery of the first shaft between the first support part and the first gripping claw, a second shaft that is disposed so that its central axis coincides with the first central axis, a second support part that supports the second shaft, a second gripping claw supported on the second shaft so as to be rotatable around the first central axis, and a second anti-slip member that is disposed between the second support part and the second gripping claw and the second shaft. and a distance control means for supporting the first support portion and the second support portion so that the first gripping claw and the second gripping claw face each other and for controlling the distance between the first gripping claw and the second gripping claw, wherein the centers of gravity of the first gripping claw and the second gripping claw are arranged so as not to coincide with the first central axis, and when an object is gripped by the first gripping claw and the second gripping claw, the first anti-slip member is sandwiched between the first support portion and the first gripping claw, and the second anti-slip member is sandwiched between the second support portion and the second gripping claw.

The gripping robot of the present invention also includes the above-mentioned gripping device, a robot arm that controls the position and rotation of the gripping device, and a control unit that controls the gripping device and the robot arm.

The method for controlling a gripping device of the present invention is a method for controlling a gripping device having a first support portion that supports a first gripping claw, a second support portion that supports a second gripping claw, and a distance control means that controls the distance between the first gripping claw and the second gripping claw, wherein the gripping device includes a first shaft, a first support portion that supports the first shaft, a first gripping claw supported on the first shaft so as to be rotatable around a first central axis that is the central axis of the first shaft, a first anti-slip member that is disposed between the first support portion and the first gripping claw and on the outer periphery of the first shaft, a second shaft that is disposed so as to have a central axis that coincides with the first central axis, a second support portion that supports the second shaft, a second gripping claw supported on the second shaft so as to be rotatable around the first central axis, and a second anti-slip member that is disposed between the second support portion and the second gripping claw and on the outer periphery of the second shaft. The gripping mechanism includes a gap control means for controlling the gap between the first gripping claw and the second gripping claw, and a gap control means for supporting the first support portion and the second support portion so that the first gripping claw and the second gripping claw face each other. The center of gravity of the first gripping claw and the center of gravity of the second gripping claw are positioned so that they do not coincide with the first central axis. When the first gripping claw and the second gripping claw grip an object, the first anti-slip member is sandwiched between the first support portion and the first gripping claw, and the second anti-slip member is sandwiched between the second support portion and the second gripping claw. When the first gripping claw and the second gripping claw are not gripping an object, the first support portion and the second support portion are controlled to a predetermined angle, the gap between the first gripping claw and the second gripping claw is controlled, and the object is gripped by the first gripping claw and the second gripping claw.

The control program for a gripping device of the present invention is a control program for a gripping device having a first support portion that supports a first gripping claw, a second support portion that supports a second gripping claw, and a distance control means that controls the distance between the first gripping claw and the second gripping claw, wherein the gripping device includes a first shaft, a first support portion that supports the first shaft, a first gripping claw supported on the first shaft so as to be rotatable around a first central axis that is the central axis of the first shaft, a first anti-slip member that is disposed between the first support portion and the first gripping claw and on the outer periphery of the first shaft, a second shaft that is disposed so as to have its central axis coincident with the first central axis, a second support portion that supports the second shaft, a second gripping claw supported on the second shaft so as to be rotatable around the first central axis, a second anti-slip member that is disposed between the second support portion and the second gripping claw and on the outer periphery of the second shaft, and the first a distance control means for supporting the first support portion and the second support portion so that the gripping claw and the second gripping claw face each other and for controlling the distance between the first gripping claw and the second gripping claw, wherein the center of gravity of the first gripping claw and the center of gravity of the second gripping claw are arranged so as not to coincide with the first central axis, and when the first gripping claw and the second gripping claw grip an object, the first anti-slip member is arranged so as to prevent the first support portion and the first gripping claw from slipping. The computer is caused to execute the steps of: controlling the first support portion and the second support portion to a predetermined angle when the first gripping claw and the second gripping claw are not gripping an object; and controlling the distance between the first gripping claw and the second gripping claw to grip the object with the first gripping claw and the second gripping claw.

The effect of the present invention is to provide a gripping device or the like that can change the posture of a gripped object with a simple configuration.

1 is a front view showing a configuration of a gripping device according to a first embodiment of the present invention; 1 is a side view showing a configuration of a gripping device according to a first embodiment of the present invention; 1 is a cross-sectional view showing a configuration of a gripping device according to a first embodiment of the present invention; 1 is a front view showing a specific example of the configuration of a gripping device according to a first embodiment of the present invention; 1 is a perspective view showing a first state of the configuration of a gripping device according to a first embodiment of the present invention; FIG. 10 is a perspective view showing a second state of operation of the gripping device according to the first embodiment of the present invention. FIG. 10 is a perspective view showing a third state of operation of the gripping device according to the first embodiment of the present invention. 1 is a block diagram showing a configuration of a gripping robot according to a first embodiment of the present invention; FIG. 2 is a schematic diagram illustrating a first state of an example of operation of the gripping robot according to the first embodiment of the present invention. FIG. 10 is a schematic diagram showing a second state of the operation example of the gripping robot according to the first embodiment of the present invention. FIG. 10 is a schematic diagram showing a third state of the operation example of the gripping robot according to the first embodiment of the present invention. FIG. 10 is a schematic diagram showing a fourth state of the operation example of the gripping robot according to the first embodiment of the present invention. FIG. 10 is a schematic diagram showing a fifth state of the operation example of the gripping robot according to the first embodiment of the present invention. 1 is a flowchart of an example of the operation of the gripping robot according to the first embodiment of the present invention. 1 is a plan view showing a first example of an anti-slip member according to a first embodiment of the present invention; FIG. 4 is a plan view showing a second example of the anti-slip member according to the first embodiment of the present invention. FIG. 10 is a plan view showing a third example of the anti-slip member according to the first embodiment of the present invention. FIG. 10 is a front view showing a specific example of the configuration of a gripping device according to a second embodiment of the present invention. FIG. 10 is a front view showing a first state of operation of the gripping device according to the second embodiment of the present invention.

Embodiments of the present invention will be described in detail below with reference to the drawings. However, while the embodiments described below have technically preferable limitations for implementing the present invention, they do not limit the scope of the invention. Note that similar components in each drawing are given the same numbers, and descriptions may be omitted.

(First embodiment)
FIG. 1 is a schematic front view showing the configuration of a gripping device 100 according to a first embodiment of the present invention. FIG. 2 is a schematic side view showing the configuration of the gripping device 100 according to the first embodiment of the present invention. FIG. 3 is a schematic cross-sectional view showing the configuration of the gripping device 100 according to the first embodiment of the present invention. The gripping device 100 includes a first shaft 11, a first support portion 12, a first gripping claw 13, a first anti-slip member 14, a second shaft 21, a second support portion 22, a second gripping claw 23, and a second anti-slip member 24. The gripping device 100 also includes a distance control means 30 that controls the distance between the first gripping claw 13 and the second gripping claw 23. Note that the description will be made using a coordinate system in FIG. 1 , in which the direction from the first support portion 12 to the second support portion 22 is the X-axis, the direction perpendicular to the plane of the drawing is the Y-axis, and the vertical direction in the drawing is the Z-axis.

The first support portion 12 supports the first shaft 11.

The first gripping claw 13 is supported on the first shaft 11 so as to be rotatable around the first central axis C, which is the central axis of the first shaft 11. As shown in FIG. 3, for example, by supporting the first shaft 11 on the first support portion 12 via a bearing 12a, the first gripping claw 13 can be supported so as to be rotatable around the first central axis C. Although not shown, it is also possible to provide a bearing on the first gripping claw 13 so that the first gripping claw 13 can rotate relative to the first shaft 11.

The first anti-slip member 14 is disposed on the outer periphery of the first shaft 11, between the first support portion 12 and the first gripping claw 13. While FIG. 1 shows a gap between the first support portion 12 and the first anti-slip member 14, for example, the first anti-slip member 14 may be in contact with the first support portion 12. However, the first anti-slip member 14 is not subjected to pressure in the compressive direction.

The second shaft 21 is positioned so that its central axis coincides with the first central axis C.

The second support portion 22 supports the second shaft 21.

The second gripping claws 23 are supported by the second shaft 21 so as to be rotatable around the first central axis C. That is, the central axes of the second shaft 21 and the first shaft 11 overlap each other and coincide with the first central axis C. As shown in FIG. 3, for example, by supporting the second shaft 21 on the second support portion 22 via a bearing 22a, the second gripping claws 23 can be supported so as to be rotatable around the first central axis C. Although not shown, it is also possible to provide a bearing on the second gripping claws 23 so that the second gripping claws 23 can rotate relative to the second shaft 21.

The second anti-slip member 24 is disposed on the outer periphery of the second shaft 21 between the second support portion 22 and the second gripping claw 23. Although Fig. 1 shows a gap between the second support portion 22 and the second anti-slip member 24, for example, the second anti-slip member 24 may be in contact with the second support portion 22. However, the second anti-slip member 24 is not subjected to pressure in the compressive direction.

The distance control means 30 supports the first support portion 12 and the second support portion 22 so that the first gripping jaw 13 and the second gripping jaw 23 face each other, and controls the distance between the first gripping jaw 13 and the second gripping jaw 23. The distance control means 30 is fixed to the robot arm 200. The robot arm 200 is capable of controlling the position of the gripping device 100 in three dimensions. It is also capable of rotation around the Z axis in Figure 1.

The first center of gravity G1 of the first gripping jaw 13 and the second center of gravity G2 of the second gripping jaw 23 are positioned so as not to coincide with the first central axis C. The first center of gravity G1 is the center of gravity of the first gripping jaw 13. The second center of gravity G2 is the center of gravity of the second gripping jaw 23.

Furthermore, when an object is gripped by the first gripping claw 13 and the second gripping claw 23, the first anti-slip member 14 is clamped between the first support portion 12 and the first gripping claw 13, and the second anti-slip member 24 is clamped between the second support portion 22 and the second gripping claw 23.

When an object is gripped by the first gripping claw 13 and the second gripping claw 23 under the control of the distance control means 30, a force acts on the first gripping claw 13 in a direction moving it closer to the first support portion 12. This force causes the first anti-slip member 14 to be clamped between the first support portion 12 and the first gripping claw 13. As a result, the rotation of the first gripping claw 13 is locked, and the angle between the first gripping claw 13 and the first support portion is fixed. Similarly, when an object is gripped by the first gripping claw 13 and the second gripping claw 23 under the control of the distance control means 30, a force acts on the second gripping claw 23 in a direction moving it closer to the second support portion 22. This force causes the second anti-slip member 24 to be clamped between the second support portion 22 and the second gripping claw 23. As a result, the rotation of the second gripping claw 23 is locked, and the angle between the second gripping claw 23 and the second support part is fixed.

In the above configuration, when the first gripping claw 13 and the second gripping claw 23 are not gripping (clamping) an object, the first gripping claw 13 and the second gripping claw 23 are not prevented from rotating. Furthermore, the first center of gravity G1 and the second center of gravity G2 are positioned offset from the first central axis C. Therefore, the tip of the first gripping claw 13 on the first center of gravity G1 side faces downward (in the -Z direction) due to the action of gravity. Similarly, the tip of the second gripping claw 23 on the second center of gravity G2 side faces downward.

On the other hand, the orientation of the distance control means 30 supporting the first support unit 12 and the second support unit 22 can be adjusted to any orientation by controlling the robot arm 200 (not shown). Therefore, by controlling the robot arm 200, the angle between the first support unit 12 and the first gripping claw 13 and the angle between the second support unit 22 and the second gripping claw 23 can be controlled to desired values. Then, when an object is grasped by the first gripping claw 13 and the second gripping claw 23 from this state, the grasping device 100 can transport the object with the angle between the first support unit 12 and the first gripping claw 13 and the angle between the second support unit 22 and the second gripping claw 23 fixed. In this state, the grasping device 100 can control the object to a desired posture by controlling the robot arm 200.

Next, the specific configuration and operation example of the gripping device 100 will be described. Figure 4 is a front view showing a specific example of the configuration of the gripping robot of the first embodiment of the present invention. The basic configuration is similar to that of the gripping device 100 in Figure 1. The distance control means 30 can be, for example, a slider using a linear motor or a ball screw. The distance control means 30 is fixed to the base 40, and the base 40 is supported by the robot arm 200 via a flange 210. The other configuration is similar to that in Figure 1, so description will be omitted.

Figure 5 is a perspective view showing a first state of the configuration of the gripping device of the first embodiment of the present invention. Figure 5 shows a state in which the first support portion 12 and the second support portion 22 face downward (-Z direction), and the first gripping claw 13 and the second gripping claw 23 are not gripping an object. In this state, the rotation of the first gripping claw 13 and the second gripping claw 23 is not impeded, so the tip of the first gripping claw 13 and the tip of the second gripping claw 23 each face downward (-Z direction) due to the action of gravity.

Figure 6 is a perspective view showing a second state of operation of the gripping device of the first embodiment of the present invention. In Figure 6, the orientation of the robot arm 200 is changed, causing the first support unit 12 and the second support unit 22 to tilt from the Z direction. In this state, the rotation of the first gripping claw 13 and the second gripping claw 23 is not impeded, and the tip of the first gripping claw 13 and the tip of the second gripping claw 23 are each facing downward (in the -Z direction) due to the action of gravity.

Figure 7 is a perspective view showing a third state of operation of the gripping device of the first embodiment of the present invention. Starting from the state shown in Figure 6, Figure 7 shows a state in which the object 2000 is gripped by the first gripping claw 13 and the second gripping claw 23. As mentioned above, by gripping the object 2000, the angle between the first support portion 12 and the first gripping claw 13, and the angle between the second support portion 22 and the second gripping claw 23 are locked. Therefore, by controlling the orientation of the robot arm 200 from this state, the object 2000 can be held in a desired posture.

Next, a specific example of the operation of a gripping robot 1000 equipped with a gripping device 100 will be described. Figure 8 is a block diagram showing the configuration of the gripping robot 1000 according to the first embodiment of the present invention. The gripping robot 1000 has the gripping device 100, a robot arm 200 that controls the position and rotation of the gripping device, and a control unit 300 that controls the gripping device 100 and the robot arm 200.

Next, an example of the operation of the gripping robot 1000 will be described. Below, an example of the operation (placement) in which the gripping robot 1000 picks up the object 2000 to grip it, and places the object 2000 on the placement surface 3000 will be described. Figure 9 is a schematic diagram showing a first state of an example of the operation of the gripping robot according to the first embodiment of the present invention. The robot arm 200 and the second support unit 22 are parallel to the Y axis. The gripping device 100 is not gripping the object 2000. Therefore, the second gripping claws 23 can rotate freely, and the tip faces downward (in the -Z direction) due to the action of gravity.

Figure 10 is a schematic diagram showing a second state of an example of operation of the gripping robot 1000 according to the first embodiment of the present invention. It shows a state in which the robot arm 200 approaches the object 2000. The gripping device 100 has not yet grasped the object 2000. Therefore, the second gripping claw 23 remains facing downward.

Figure 11 is a schematic diagram showing a third state of an example of operation of the gripping robot 1000 according to the first embodiment of the present invention. Figure 11 shows a state in which the gripping device 100 has gripped the object 2000, starting from the state shown in Figure 10. The gripping device 100 grips the object 2000 with the first gripping claw 13 and the second gripping claw 23 facing downward. By gripping the object 2000, the rotation of the first gripping claw 13 and the second gripping claw 23 is locked. Figure 12 is a schematic diagram showing a fourth state of an example of operation of the gripping robot 1000 according to the first embodiment of the present invention. Figure 12 shows a state in which the robot arm 200 is moving the object 2000 by changing its orientation. Because the rotation of the first gripping claw 13 and the second gripping claw 23 is locked, the object 2000 is in a position that corresponds to the movement of the robot arm 200.

Figure 13 is a schematic diagram showing a fifth state of an example of the operation of the gripping robot of the first embodiment of the present invention. Figure 13 shows a state in which the gripping robot 1000 has carried the object 2000 to the placement surface 3000. At this position, the distance between the first gripping claw 13 and the second gripping claw 23 is widened, and the gripping device 100 releases its grip on the object 2000, thereby placing the object 2000 on the placement surface 3000. Note that, while the above describes an example in which the surface on which the object 2000 is initially placed and the placement surface 3000 are both horizontal, this is not limiting; the object 2000 may be placed on an inclined surface, or the placement surface 3000 may be tilted from the horizontal. Furthermore, the placement surface 3000 may not be flat, but may be part of a product being assembled. When the gripping robot 1000 grips the object 2000, the angle between the first support part 12 and the first gripping claw 13, and the angle between the second support part 22 and the second gripping claw 23 can be set appropriately depending on the conditions of the placement surface, etc.

Next, the operation of the gripping robot 1000, an example of which is shown above, will be described. Figure 14 is a flowchart of an example operation of the gripping robot of the first embodiment of the present invention. First, while the gripping device 100 is not gripping the object 2000, the control unit 300 controls the orientation of the robot arm 200 (S1). In this control, the tip of the first gripping claw 13 and the tip of the second gripping claw 23 face downward due to the action of gravity (S2). Next, the control unit 300 controls the robot arm 200 to move the gripping device 100 to the position of the object 2000, and have the first gripping claw 13 and the second gripping claw 23 grip the object 2000 (S3). When the object 2000 is grasped by the first gripping claw 13 and the second gripping claw 23, the angle between the first support portion and the first gripping claw, and the angle between the second support portion and the second gripping claw, are fixed. The robot arm 200 moves the object 2000 while maintaining this angle (S4). The robot arm 200 then places the object 2000 on the target placement surface 3000 (S5). At this position, the gripping device 100, under the control of the control unit 300, widens the distance between the first gripping claw 13 and the second gripping claw 23 and releases its grip on the object 2000 (S6). Through these operations, the gripping robot 1000 can grasp the object 2000 in a desired orientation and place it on the placement surface in the desired orientation.

Next, specific examples of the first anti-slip member 14 and the second anti-slip member 24 will be described. Figure 15 is a plan view showing a first example of an anti-slip member according to the first embodiment of the present invention. In the example shown in Figure 15, the first anti-slip member 14a is disposed on the first gripping claw 13. The first gripping claw 13 is formed with a shaft hole 13a for attachment to the first shaft 11. The first anti-slip member 14a is formed in an annular shape around the shaft hole 13a. A high-friction material with a high coefficient of friction with the first support portion 12 is used as the material for the first anti-slip member 14a. Specifically, a material containing rubber can be used as the material for the first anti-slip member 14a. The first anti-slip member 14a can be fixed to the first gripping claw 13, but as long as it is engaged with the first shaft 11, it may be configured not to be fixed to either the first support portion 12 or the first gripping claw 13. The second anti-slip member 24 can be configured in the same way as the first anti-slip member 14a.

Figure 16 is a plan view showing a second example of an anti-slip member according to the first embodiment of the present invention. The first anti-slip member 14b in the example of Figure 16 is divided into multiple pieces and arranged around the shaft hole 13a. The first anti-slip member 14b can be made of the same high-friction material as the first anti-slip member 14a. The second anti-slip member 24 can also be configured in the same way as the first anti-slip member 14b.

FIG. 17 is a plan view showing a third example of the anti-slip member according to the first embodiment of the present invention. The anti-slip member of the third example is composed of a pair of plate-shaped members 14c. The pair of plate-shaped members 14c is formed by a pair of plate-shaped members having interlocking concave and convex portions. In the example shown in FIG. 17, one of the pair of plate-shaped members 14c is disposed around the axial hole 12b of the first support portion 12, and the other of the pair of plate-shaped members 14c is disposed around the axial hole 13a of the first gripping claw 13. The pair of plate-shaped members 14c are not interlocked when the gripping device 100 is not gripping the object 2000, but are interlocked when the gripping device 100 is gripping the object 2000. This allows the pair of plate-shaped members 14c to lock the angle between the first support portion 12 and the first gripping claw 13. The above description has been given for the combination of the first support portion 12 and the first gripping claw 13, but it can also be applied to the combination of the second support portion 22 and the second gripping claw 23 in the same manner.

The above describes the gripping device 100 and other components of the first embodiment.

The gripping device 100 has a first shaft 11, a first support portion 12, a first gripping claw 13, a first anti-slip member 14, a second shaft 21, a second support portion 22, a second gripping claw 23, and a second anti-slip member 24. The gripping device 100 also has a distance control means 30 that controls the distance between the first gripping claw 13 and the second gripping claw 23. The first support portion 12 supports the first shaft 11. The first gripping claw 13 is supported by the first shaft 11 so as to be rotatable around a first central axis C, which is the central axis of the first shaft 11. Because the first gripping claw 13 and the second gripping claw 23 can rotate, the angle between the first support portion 12 and the first gripping claw 13 and the angle between the second support portion 22 and the second gripping claw 23 can be changed. The first anti-slip member 14 is disposed on the outer periphery of the first shaft 11 between the first support portion 12 and the first gripping claw 13. The second shaft 21 is disposed so that its central axis coincides with the first central axis C. This allows the central axes of the first shaft 11 and the second shaft 21 to be disposed so that they overlap with each other, with the central axis being the first central axis C. The second support portion 22 supports the second shaft 21. The second gripping claw 23 is supported by the second shaft 21 so as to be rotatable around the first central axis C. The second anti-slip member 24 is disposed on the outer periphery of the second shaft 21 between the second support portion 22 and the second gripping claw 23. The distance control means 30 supports the first support portion 12 and the second support portion 22 so that the first gripping claw 13 and the second gripping claw 23 face each other, and controls the distance between the first gripping claw 13 and the second gripping claw 23. By controlling the distance between the first gripping claw 13 and the second gripping claw 23, the object 2000 can be gripped or released. The first center of gravity G1 of the first gripping claw 13 and the second center of gravity G2 of the second gripping claw 23 are arranged so as not to coincide with the first central axis C. In this manner, when the gripping device 100 is not gripping the object 2000, the tip of the first gripping claw 13 and the tip of the second gripping claw 23 can be oriented in the direction of gravity due to the action of gravity. Furthermore, when an object is gripped by the first gripping claw 13 and the second gripping claw 23, the first anti-slip member 14 is sandwiched between the first support portion 12 and the first gripping claw 13, and the second anti-slip member 24 is sandwiched between the second support portion 22 and the second gripping claw 23. With this configuration, when the gripping device 100 grips the object 2000, the angle between the first support portion 12 and the first gripping claw 13 and the angle between the second support portion 22 and the second gripping claw 23 can be maintained.

Furthermore, according to one aspect, at least one of the first anti-slip member 14 and the second anti-slip member 24 of the gripping device 100 can be configured to contain rubber. By making the first anti-slip member 14 contain rubber, the frictional force between the first anti-slip member 14 and the first support part 12 and the frictional force between the first anti-slip member 14 and the first gripping claw 13 are increased. As a result, when gripping the object 2000, it becomes easier to maintain the angle between the first support part 12 and the first gripping claw 13. Similarly, it becomes easier to maintain the angle between the second support part 22 and the second gripping claw 23.

According to another aspect, at least one of the first anti-slip member 14 and the second anti-slip member 24 of the gripping device 100 is a pair of plate-like members 14c with concave and convex portions that interlock at multiple rotational angles. One of the pair of plate-like members 14c is attached to the first gripping claw 13 or the second gripping claw 23, and the other of the pair of plate-like members 14c is attached to the first support portion 12 or the second support portion 22 so as to interlock with one of the pair of plate-like members 14c. When the object 2000 is gripped by the first gripping claw 13 and the second gripping claw 23, the interlocking of the pair of plate-like members 14c makes it easy to maintain the angle between the first support portion 12 and the first gripping claw 13. Similarly, it becomes easy to maintain the angle between the second support portion 22 and the second gripping claw 23.

The gripping robot 1000 of this embodiment also includes a gripping device 100, a robot arm 200 that controls the position and rotation of the gripping device 100, and a control unit that controls the gripping device 100 and the robot arm 200. By controlling the robot arm 200, the angle between the first support member 12 and the first gripping claw 13 and the angle between the second support member 22 and the second gripping claw 23 can be controlled to desired values. Then, when an object is grasped by the first gripping claw 13 and the second gripping claw 23 from this state, the object can be transported with the angle between the first support member 12 and the first gripping claw 13 and the angle between the second support member 22 and the second gripping claw 23 fixed. Furthermore, with the above-mentioned angles fixed, the robot arm 200 can control the object 2000 to a desired posture under the control of the control unit 300 and place it on the placement surface 3000.

The gripping device control method of this embodiment controls a gripping device 100 having a first support portion 12 that supports the first gripping claw 13, a second support portion 22 that supports the second gripping claw 23, and a distance control means 30 that controls the distance between the first gripping claw 13 and the second gripping claw 23. The gripping device 100 controlled by this gripping device control method has a first shaft 11, a first support portion 12, the first gripping claw 13, a first anti-slip member 14, a second shaft 21, a second support portion 22, the second gripping claw 23, and a second anti-slip member 24. The first support portion 12 supports the first shaft 11. The first gripping claw 13 is supported by the first shaft 11 so as to be rotatable about a first central axis C, which is the central axis of the first shaft 11. The first anti-slip member 14 is disposed on the outer periphery of the first shaft 11 between the first support portion 12 and the first gripping claw 13. The second shaft 21 is disposed so that its central axis coincides with the first central axis C. This allows the central axes of the first shaft 11 and the second shaft 21 to be disposed so that they overlap with each other, with the central axis being the first central axis C. The second support portion 22 supports the second shaft 21. The second gripping claw 23 is supported by the second shaft 21 so as to be rotatable around the first central axis C. The second anti-slip member 24 is disposed on the outer periphery of the second shaft 21 between the second support portion 22 and the second gripping claw 23. The distance control means 30 supports the first support portion 12 and the second support portion 22 so that the first gripping claw 13 and the second gripping claw 23 face each other, and controls the distance between the first gripping claw 13 and the second gripping claw 23. The first center of gravity G1 of the first gripping claw 13 and the second center of gravity G2 of the second gripping claw 23 are arranged so as not to coincide with the first central axis C. When the first gripping claw 13 and the second gripping claw 23 grip an object, the first anti-slip member 14 is sandwiched between the first support portion 12 and the first gripping claw 13, and the second anti-slip member 24 is sandwiched between the second support portion 22 and the second gripping claw 23. The control method for the gripping device of this embodiment controls the first support unit 12 and the second support unit 22 to a predetermined angle when the first gripping claw 13 and the second gripping claw 23 are not gripping an object. Furthermore, the distance between the first gripping claw 13 and the second gripping claw 23 is controlled, and the first gripping claw 13 and the second gripping claw 23 grip the object 2000. In the above configuration, the control unit 300 controls the robot arm 200 to control the angle between the first support unit 12 and the first gripping claw 13 and the angle between the second support unit 22 and the second gripping claw 23 to desired values. As a result, the first gripping claw 13 and the second gripping claw 23 can grip the object 2000. The gripping device 100 can transport an object while fixing the angle between the first support part 12 and the first gripping jaw 13, and the angle between the second support part 22 and the second gripping jaw 23. Furthermore, by controlling the robot arm 200 while fixing these angles, the gripping device 100 can control the object 2000 to a desired posture and place it on the placement surface 3000.

In one aspect, the control method for the gripping device of this embodiment controls the first support unit 12 and the second support unit 22 to a predetermined angle while the object 2000 is gripped by the first gripping claw 13 and the second gripping claw 23. The object 2000 is then placed in a desired location, and the distance between the first support unit 12 and the second support unit 22 is controlled to release the object 2000. With the above configuration, the robot arm 200 controls the first support unit 12 and the second support unit 22 to a predetermined angle, so the object 2000 can be placed in a desired posture.

The gripping device control program of this embodiment also causes a computer to control the gripping device 100. The gripping device 100, controlled by the gripping device control program, has a first support portion 12 that supports the first gripping claw 13, a second support portion 22 that supports the second gripping claw 23, and a distance control means 30 that controls the distance between the first gripping claw 13 and the second gripping claw 23. The gripping device 100 also has a first shaft 11, a first support portion 12, the first gripping claw 13, and a first anti-slip member 14. The gripping device 100 also has a second shaft 21, a second support portion 22, the second gripping claw 23, and a second anti-slip member 24. The first support portion 12 supports the first shaft 11. The first gripping claw 13 is supported by the first shaft 11 so as to be rotatable around a first central axis C, which is the central axis of the first shaft 11. The first anti-slip member 14 is disposed between the first support portion 12 and the first gripping claw 13 and on the outer periphery of the first shaft 11. The second shaft 21 is disposed so that its central axis coincides with the first central axis C. This allows the central axes of the first shaft 11 and the second shaft 21 to be disposed so as to overlap with each other, with the central axis being the first central axis C. The second support portion 22 supports the second shaft 21. The second gripping claw 23 is supported by the second shaft 21 so as to be rotatable around the first central axis C. The second anti-slip member 24 is disposed between the second support portion 22 and the second gripping claw 23 and on the outer periphery of the second shaft 21. The distance control means 30 supports the first support portion 12 and the second support portion 22 so that the first gripping claw 13 and the second gripping claw 23 face each other, and controls the distance between the first gripping claw 13 and the second gripping claw 23. The first center of gravity G1 of the first gripping claw 13 and the second center of gravity G2 of the second gripping claw 23 are arranged so as not to coincide with the first central axis C. When the first gripping claw 13 and the second gripping claw 23 grip an object, the first anti-slip member 14 is sandwiched between the first support portion 12 and the first gripping claw 13, and the second anti-slip member 24 is sandwiched between the second support portion 22 and the second gripping claw 23. The control program for the gripping device of this embodiment causes the computer to execute a step of controlling the first support unit 12 and the second support unit 22 to a predetermined angle when the first gripping jaw 13 and the second gripping jaw 23 are not gripping an object. The control program also causes the computer to execute a step of controlling the distance between the first gripping jaw 13 and the second gripping jaw 23 and gripping the object 2000 with the first gripping jaw 13 and the second gripping jaw 23. According to the above program, by controlling the robot arm 200, the angle between the first support unit 12 and the first gripping jaw 13 and the angle between the second support unit 22 and the second gripping jaw 23 can be controlled to desired values, thereby gripping the object 2000. The object can be transported while the angle between the first support part 12 and the first gripping jaw 13, and the angle between the second support part 22 and the second gripping jaw 23, are fixed. Furthermore, by controlling the robot arm 200 while the above-mentioned angles are fixed, the gripping device 100 can control the object 2000 to a desired posture and place it on the placement surface 3000.

Second Embodiment
In the first embodiment, the mechanism for attaching the first gripping claw 13 to the first shaft 11 and the mechanism for attaching the second gripping claw 23 to the second shaft 21 were not limited. In this embodiment, a configuration in which the first gripping claw 13 is slidable in the first central axis direction of the first shaft 11 will be described. FIG. 18 is a front view showing a specific example of the configuration of a gripping device according to the second embodiment of the present invention. The first gripping claw 13 is attached to the first shaft 11 so as to be slidable in the first central axis direction of the first shaft 11. The first shaft 11 has a first stopper 11a for preventing the first gripping claw 13 from coming off when the first gripping claw 13 slides in a direction away from the first support portion 12. Similarly, the second gripping claw 23 is attached to the second shaft 21 so as to be slidable in the first central axis direction, and the second shaft 21 is provided with a second stopper 21a that prevents the second gripping claw 23 from coming loose.

Figure 19 is a front view showing a first state of operation of the gripping device of the second embodiment of the present invention. As shown in Figure 19, when the first gripping claw 13 and the second gripping claw 23 grip the object 2000, the first gripping claw 13 slides in a direction approaching the first support part 12, and the second gripping claw 23 slides in a direction approaching the second support part 22.

Without the above-described sliding mechanism, it is necessary to adjust the shape of the first anti-slip member 14 so that it is not compressed when the object 2000 is not being gripped, and is compressed when the object 2000 is being gripped. In contrast, by configuring the first gripping claws 13 to slide in the direction of the first central axis C relative to the first shaft 11, there are no restrictions on the shape of the first anti-slip member 14, making it easier to design the first anti-slip member 14. The second gripping claws 23, second shaft 21, and second anti-slip member 24 can also be configured in a similar manner.

The above describes the gripping device 100 and other components of the second embodiment.

In the gripping device 100 of this embodiment, the first gripping claw 13 is slidable along the first central axis C, and the second gripping claw 23 is slidable along the first central axis C. Because the first gripping claw 13 is slidable along the first central axis C, first anti-slip members 14 of various shapes can be clamped between the first support portion 12 and the first gripping claw 13. This makes it easier to design the first anti-slip member 14. The same applies to the second anti-slip member 24.

According to one aspect, the gripping device 100 includes a first stopper 11a and a second stopper 21a. The first stopper 11a prevents the first gripping claw 13 from coming off the first shaft 11. The second stopper 21a prevents the second gripping claw 23 from coming off the second shaft 21. With the above configuration, the first gripping claw 13 can be prevented from coming off the first shaft 11, and the second gripping claw 23 can be prevented from coming off the second shaft 21.

The scope of the present invention also includes a program that causes a computer to execute the processing of the first and second embodiments described above, and a recording medium on which the program is stored. Examples of recording media that can be used include magnetic disks, magnetic tapes, optical disks, magneto-optical disks, and semiconductor memories.

The present invention has been described above using the above-mentioned embodiment as an exemplary example. However, the present invention is not limited to the above-mentioned embodiment. In other words, the present invention can be applied in various aspects that are understandable to those skilled in the art within the scope of the present invention.

REFERENCE SIGNS LIST 11 First shaft 12 First support portion 13 First gripping claw 14 First anti-slip member 21 Second shaft 22 Second support portion 23 Second gripping claw 24 Second anti-slip member 30 Distance control means 100 Grip device 200 Robot arm 210 Flange 300 Control unit 1000 Grip robot 2000 Object 3000 Placement surface

Claims (11)

A first axis;
a first support portion that supports the first shaft;
a first gripping claw supported by the first shaft so as to be rotatable around a first central axis that is a central axis of the first shaft;
a first anti-slip member disposed on an outer periphery of the first shaft between the first support portion and the first gripping claw;
a second axis arranged so that its central axis coincides with the first central axis;
a second support portion that supports the second shaft;
a second gripping claw supported by the second shaft so as to be rotatable about the first central axis;
a second anti-slip member disposed on an outer periphery of the second shaft between the second support portion and the second gripping claw;
a distance control means for supporting the first support portion and the second support portion so that the first gripping claw and the second gripping claw face each other, and for controlling the distance between the first gripping claw and the second gripping claw;
and
a center of gravity of the first gripping jaw and a center of gravity of the second gripping jaw are arranged so as not to coincide with the first central axis;
the first gripping claw is provided slidably along the first central axis,
the second gripping claw is provided slidably along the first central axis,
When the object is gripped by the first gripping claw and the second gripping claw,
the first anti-slip member is clamped between the first support portion and the first gripping claw,
the second anti-slip member is clamped between the second support portion and the second gripping claw;
A gripping device characterized by: a first stopper that prevents the first gripping claw from coming off the first shaft;
a second stopper that prevents the second gripping claw from coming off the second shaft;
The gripping device according to claim 1 . At least one of the first anti-slip member and the second anti-slip member is a pair of plate-like members having concave and convex portions that mesh with each other at a plurality of rotation angles,
one of the pair of plate-shaped members is attached to the first gripping jaw and the other of the pair of plate-shaped members is attached to the first support part; and one of the pair of plate-shaped members is attached to the second gripping jaw and the other of the pair of plate-shaped members is attached to the second support part;
The gripping device according to claim 1 or 2, characterized in that the gripping device is either one or both of the above. A first axis;
a first support portion that supports the first shaft;
a first gripping claw supported by the first shaft so as to be rotatable around a first central axis that is a central axis of the first shaft;
a first anti-slip member disposed on an outer periphery of the first shaft between the first support portion and the first gripping claw;
a second axis arranged so that its central axis coincides with the first central axis;
a second support portion that supports the second shaft;
a second gripping claw supported by the second shaft so as to be rotatable about the first central axis;
a second anti-slip member disposed on an outer periphery of the second shaft between the second support portion and the second gripping claw;
a distance control means for supporting the first support portion and the second support portion so that the first gripping claw and the second gripping claw face each other, and for controlling the distance between the first gripping claw and the second gripping claw;
and
a center of gravity of the first gripping jaw and a center of gravity of the second gripping jaw are arranged so as not to coincide with the first central axis;
At least one of the first anti-slip member and the second anti-slip member is a pair of plate-like members having concave and convex portions that mesh with each other at a plurality of rotation angles,
one of the pair of plate-shaped members is attached to the first gripping jaw and the other of the pair of plate-shaped members is attached to the first support portion; and
one of the pair of plate-shaped members is attached to the second gripping jaws and the other of the pair of plate-shaped members is attached to the second support portion;
Either one or both of the following:
When the object is gripped by the first gripping claw and the second gripping claw,
the first anti-slip member is clamped between the first support portion and the first gripping claw,
the second anti-slip member is clamped between the second support portion and the second gripping claw;
A gripping device characterized by: At least one of the first anti-slip member and the second anti-slip member includes rubber.
5. The gripping device according to claim 1, wherein the gripping device is a gripping device for holding a plurality of objects. A gripping device according to any one of claims 1 to 5;
a robotic arm that controls the position and rotation of the gripping device;
a control unit that controls the gripping device and the robot arm;
A grasping robot comprising: A method for controlling a gripping device having a first support portion that supports a first gripping jaw, a second support portion that supports a second gripping jaw, and a distance control means that controls a distance between the first gripping jaw and the second gripping jaw,
The gripping device
A first axis;
a first support portion that supports the first shaft;
the first gripping claw supported by the first shaft so as to be rotatable around a first central axis that is a central axis of the first shaft;
a first anti-slip member disposed on an outer periphery of the first shaft between the first support portion and the first gripping claw;
a second axis arranged so that its central axis coincides with the first central axis;
a second support portion that supports the second shaft;
the second gripping claw supported by the second shaft so as to be rotatable about the first central axis;
a second anti-slip member disposed on an outer periphery of the second shaft between the second support portion and the second gripping claw;
a distance control means for supporting the first support portion and the second support portion so that the first gripping claw and the second gripping claw face each other, and for controlling the distance between the first gripping claw and the second gripping claw;
and
a center of gravity of the first gripping jaw and a center of gravity of the second gripping jaw are arranged so as not to coincide with the first central axis;
the first gripping claw is provided slidably along the first central axis,
the second gripping claw is provided slidably along the first central axis,
When the object is gripped by the first gripping claw and the second gripping claw,
the first anti-slip member is clamped between the first support portion and the first gripping claw,
the second anti-slip member is sandwiched between the second support portion and the second gripping claw,
controlling the first support portion and the second support portion to a predetermined angle in a state in which the first gripping jaw and the second gripping jaw are not gripping an object;
controlling a distance between the first gripping claw and the second gripping claw, and gripping the object with the first gripping claw and the second gripping claw;
A method for controlling a gripping device. A method for controlling a gripping device having a first support portion that supports a first gripping jaw, a second support portion that supports a second gripping jaw, and a distance control means that controls a distance between the first gripping jaw and the second gripping jaw,
The gripping device
A first axis;
a first support portion that supports the first shaft;
the first gripping claw supported by the first shaft so as to be rotatable around a first central axis that is a central axis of the first shaft;
a first anti-slip member disposed on an outer periphery of the first shaft between the first support portion and the first gripping claw;
a second axis arranged so that its central axis coincides with the first central axis;
a second support portion that supports the second shaft;
the second gripping claw supported by the second shaft so as to be rotatable about the first central axis;
a second anti-slip member disposed on an outer periphery of the second shaft between the second support portion and the second gripping claw;
a distance control means for supporting the first support portion and the second support portion so that the first gripping claw and the second gripping claw face each other, and for controlling the distance between the first gripping claw and the second gripping claw;
and
a center of gravity of the first gripping jaw and a center of gravity of the second gripping jaw are arranged so as not to coincide with the first central axis;
At least one of the first anti-slip member and the second anti-slip member is a pair of plate-like members having concave and convex portions that mesh with each other at a plurality of rotation angles,
one of the pair of plate-shaped members is attached to the first gripping jaw and the other of the pair of plate-shaped members is attached to the first support portion; and
one of the pair of plate-shaped members is attached to the second gripping jaw and the other of the pair of plate-shaped members is attached to the second support portion;
Either one or both of the following:
When the object is gripped by the first gripping claw and the second gripping claw,
the first anti-slip member is clamped between the first support portion and the first gripping claw,
the second anti-slip member is sandwiched between the second support portion and the second gripping claw,
controlling the first support portion and the second support portion to a predetermined angle in a state in which the first gripping jaw and the second gripping jaw are not gripping an object;
controlling a distance between the first gripping claw and the second gripping claw, and gripping the object with the first gripping claw and the second gripping claw;
A method for controlling a gripping device. controlling the first support portion and the second support portion to a predetermined angle in a state in which the object is gripped by the first gripping jaw and the second gripping jaw;
Place the object in a desired location;
releasing the object by controlling the distance between the first support portion and the second support portion;
9. A method for controlling a gripping device according to claim 7 or 8 . A control program for a gripping device having a first support portion that supports a first gripping jaw, a second support portion that supports a second gripping jaw, and a distance control means that controls a distance between the first gripping jaw and the second gripping jaw,
The gripping device
A first axis;
a first support portion that supports the first shaft;
the first gripping claw supported by the first shaft so as to be rotatable around a first central axis that is a central axis of the first shaft;
a first anti-slip member disposed on an outer periphery of the first shaft between the first support portion and the first gripping claw;
a second axis arranged so that its central axis coincides with the first central axis;
a second support portion that supports the second shaft;
the second gripping claw supported by the second shaft so as to be rotatable about the first central axis;
a second anti-slip member disposed on an outer periphery of the second shaft between the second support portion and the second gripping claw;
a distance control means for supporting the first support portion and the second support portion so that the first gripping claw and the second gripping claw face each other, and for controlling the distance between the first gripping claw and the second gripping claw;
and
a center of gravity of the first gripping jaw and a center of gravity of the second gripping jaw are arranged so as not to coincide with the first central axis;
the first gripping claw is provided slidably along the first central axis,
the second gripping claw is provided slidably along the first central axis,
When the object is gripped by the first gripping claw and the second gripping claw,
the first anti-slip member is clamped between the first support portion and the first gripping claw,
the second anti-slip member is sandwiched between the second support portion and the second gripping claw,
controlling the first support portion and the second support portion to a predetermined angle in a state in which the first gripping claw and the second gripping claw are not gripping an object;
a step of controlling a distance between the first gripping claw and the second gripping claw to control gripping of the object by the first gripping claw and the second gripping claw;
A control program for a gripping device, characterized by causing a computer to execute the above. A control program for a gripping device having a first support portion that supports a first gripping jaw, a second support portion that supports a second gripping jaw, and a distance control means that controls a distance between the first gripping jaw and the second gripping jaw,
The gripping device
A first axis;
a first support portion that supports the first shaft;
the first gripping claw supported by the first shaft so as to be rotatable around a first central axis that is a central axis of the first shaft;
a first anti-slip member disposed on an outer periphery of the first shaft between the first support portion and the first gripping claw;
a second axis arranged so that its central axis coincides with the first central axis;
a second support portion that supports the second shaft;
the second gripping claw supported by the second shaft so as to be rotatable about the first central axis;
a second anti-slip member disposed on an outer periphery of the second shaft between the second support portion and the second gripping claw;
a distance control means for supporting the first support portion and the second support portion so that the first gripping claw and the second gripping claw face each other, and for controlling the distance between the first gripping claw and the second gripping claw;
and
a center of gravity of the first gripping jaw and a center of gravity of the second gripping jaw are arranged so as not to coincide with the first central axis;
At least one of the first anti-slip member and the second anti-slip member is a pair of plate-like members having concave and convex portions that mesh with each other at a plurality of rotation angles,
one of the pair of plate-shaped members is attached to the first gripping jaw and the other of the pair of plate-shaped members is attached to the first support portion; and
one of the pair of plate-shaped members is attached to the second gripping jaws and the other of the pair of plate-shaped members is attached to the second support portion;
Either one or both of the following:
When the object is gripped by the first gripping claw and the second gripping claw,
the first anti-slip member is clamped between the first support portion and the first gripping claw,
the second anti-slip member is sandwiched between the second support portion and the second gripping claw,
controlling the first support portion and the second support portion to a predetermined angle in a state in which the first gripping claw and the second gripping claw are not gripping an object;
a step of controlling a distance between the first gripping claw and the second gripping claw to control gripping of the object by the first gripping claw and the second gripping claw;
A control program for a gripping device, characterized by causing a computer to execute the above.