EP-4741117-A1 - GRIPPING DEVICE, CONVEYANCE DEVICE, AND GRIPPING METHOD

EP4741117A1EP 4741117 A1EP4741117 A1EP 4741117A1EP-4741117-A1

Abstract

An object of the present invention is to provide a compact gripping device capable of holding objects of different shapes and sizes. A gripping device 100 of the present invention includes: a first plate member 110; a second plate member 120; and a third plate member 130, the first plate member 110, the second plate member 120, and the third plate member 130 being arranged in parallel in this order, the gripping device 100 gripping an object such that the object is held between the first plate member 110 and the second plate member 120 and gripping an object such that the object is held between the second plate member 120 and the third plate member 130. A holdable width W3 that is capable of holding the object between the first plate member 110 and the second plate member 120, and a holdable width W2 that is capable of holding the object between the second plate member 120 and the third member 130 are different from each other (refer to Fig. 1).

Inventors

IEDA, Ryoko
YAMANAKA, DAICHI
TACHIBANA, SHINJI
OGAWARA, Shogo
KAMEI, TOSHIAKI

Assignees

HITACHI HIGH-TECH CORPORATION

Dates

Publication Date: 20260513
Application Date: 20240624

Claims (9)

A gripping device comprising: a first plate member; a second plate member; and a third plate member, the first plate member, the second plate member, and the third plate member being arranged in parallel in this order, the gripping device gripping an object such that the object is held between the first plate member and the second plate member and gripping an object such that the object is held between the second plate member and the third plate member, wherein a first holdable width that is capable of holding the object between the first plate member and the second plate member, and a second holdable width that is capable of holding the object between the second plate member and the third member are different from each other.
The gripping device according to claim 1, further comprising a drive mechanism that drives the first plate member and the second plate member such that the first plate member and the second plate member approach each other and separate from each other.
The gripping device according to claim 2, wherein a position of the third plate member is located at a fixed position.
The gripping device according to claim 3, wherein the drive mechanism brings the first plate member and the second plate member close to each other so as to grip the object between the first plate member and the second plate member, and the drive mechanism separates the first plate member from the second plate member so as to grip the object between the second plate member and the third plate member.
The gripping device according to claim 2, wherein the drive mechanism drives the first plate member and the second plate member by air pressure.
The gripping device according to claim 1, wherein at least one of the first plate member, the second plate member, and the third plate member has a concave portion or a convex portion that corresponds to a convex portion or a concave portion that is provided on the object.
The gripping device according to claim 1, further comprising: a first protruding part protruding from a gripping surface of the first plate member toward the second plate member; and a second protruding part protruding from a gripping surface of the second plate member toward the first plate member, wherein the first protruding part and the second protruding part come into contact with each other so as to limit approach of the first plate member and the second plate member.
A conveying device comprising: the gripping device according to any one of claims 1 to 7; and a manipulator to which the gripping device is attached.
A gripping method comprising: gripping an object between a first plate member and a second plate member by bringing the first plate member and the second plate member close to each other, the first and second plate members being arranged in parallel; and by separating the first plate member from the second plate member, gripping, between the second plate member and a third plate member that is disposed in parallel with the second plate member and is located at a fixed position, an object having a different width from the object.

Description

Technical Field This invention relates to a gripping device, a conveying device, and a gripping method. Background Art In an automatic assembly facility for analyzers or the like, various types of assembly objects are gripped by a gripping device attached to the distal end of a manipulator. Patent Literature 1 discloses a robot hand having a gripping device. The robot hand of Patent Literature 1 "includes: a first holding member shaped like a plate; a second holding member that is disposed on the outer periphery of the first holding member and is shaped like a plate; a third holding member that is disposed on the reverse side of the outer periphery of the first holding member from the second holding member and is shaped like a plate; and a support mechanism that supports the first holding member and the second holding member such that the first holding member and the second holding member can be brought close to or separated from each other, and supports the first holding member and the third holding member such that the first holding member and the third holding member can be brought close to or separated from each other". Citation List Patent Literature Patent Literature 1: Japanese Unexamined Patent Application Publication No. 2014-233807 Summary of Invention Technical Problem In the automatic assembly facility for handling a variety of assembly objects, the gripping device needs to be changed as appropriate according to the shape and size of an object. An object of the present invention is to provide a gripping device, a conveying device, and a gripping method, by which objects of different shapes and sizes can be gripped. Solution to Problem A gripping device of the present invention includes: a first plate member; a second plate member; and a third plate member, the first plate member, the second plate member, and the third plate member being arranged in parallel in this order, the gripping device gripping an object such that the object is held between the first plate member and the second plate member, and gripping an object such that the object is held between the second plate member and the third plate member. In the gripping device, a first holdable width that is capable of holding the object between the first plate member and the second plate member, and a second holdable width that is capable of holding the object between the second plate member and the third member are different from each other. A conveying device of the present invention includes: the gripping device described above; and a manipulator to which the gripping device is attached. A gripping method of the present invention includes: gripping an object between a first plate member and a second plate member by bringing the first plate member and the second plate member close to each other, the first and second plate members being arranged in parallel; and by separating the first plate member from the second plate member, gripping, between the second plate member and a third plate member that is disposed in parallel with the second plate member and is located at a fixed position, an object having a different width from the object. Advantageous Effects of Invention According to the present invention, it is possible to grip objects which have different shapes and sizes. Objects, configurations, and effects other than the above will be apparent from the description of the following embodiments. Brief Description of Drawings [Fig. 1] Fig. 1 is a plan view showing the configuration of a gripping device 100.[Fig. 2] Fig. 2 is a side view showing the configuration of a conveying device 200.[Fig. 3] Fig. 3 shows a gripping method of an object A.[Fig. 4] Fig. 4 shows a gripping method of an object B.[Fig. 5] Fig. 5 is a plan view showing the configuration of a gripping device 500. Description of Embodiments Embodiments of the present invention will be specifically described below in accordance with the accompanying drawings. In the following embodiments, it is needless to say that the components (including element steps) are not essential unless otherwise specified or unless the components are clearly essential in principle. First Embodiment Fig. 1 is a plan view showing the configuration of a gripping device 100 according to a first embodiment. Here, (a) of Fig. 1 is a plan view showing a state in which a first plate member 110 and a second plate member 120 of the gripping device 100 are close to each other, and (b) of Fig. 1 is a plan view showing a state in which the first plate member 110 and the second plate member 120 of the gripping device 100 are separated from each other. (Gripping device 100) The gripping device 100 includes the first plate member 110, the second plate member 120, a third plate member 130, a first protruding part 140, a second protruding part 150, an actuator 160, and a robot flange 170. The gripping device 100 grips an object by holding the object between the first plate member 110 and the second plate member 120 an