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JP-7856048-B2 - Gripping device, gripping robot, and gripping method

JP7856048B2JP 7856048 B2JP7856048 B2JP 7856048B2JP-7856048-B2

Inventors

  • 森 建郎

Assignees

  • トヨタ自動車株式会社

Dates

Publication Date
20260511
Application Date
20230518

Claims (4)

  1. In a gripping device that can move while gripping a box, The box comprises first, second, third, and fourth side walls, The first and second side walls are connected, The first and third side walls are opposite each other, The second and fourth side walls face each other, A first gripping portion that grips the first side wall by sandwiching the inner wall surface and the outer wall surface of the first side wall, A second gripping portion that grips the second side wall by sandwiching the inner wall surface and the outer wall surface of the second side wall, A first auxiliary gripping portion is movable to approach and move away from the first gripping portion, and after the gripping device moves upward while the first gripping portion grips the first side wall and the second gripping portion grips the second side wall, it presses against only the outer wall surface of the third side wall to assist the gripping of the box by the first gripping portion , The gripping device includes a second auxiliary gripping portion which is movable toward and away from the second gripping portion, and which, after the gripping device moves upward while the first gripping portion grips the first side wall and the second gripping portion continues to grip the second side wall, presses against only the outer wall surface of the fourth side wall to assist the gripping of the box by the second gripping portion , gripping device.
  2. The first gripping portion comprises an outer claw and an inner claw, The first gripping portion grips the first side wall by pressing the outer claw against the outer wall surface of the first side wall and the inner claw against the inner wall surface of the first side wall, thereby sandwiching the inner and outer wall surfaces of the first side wall. The height of the portion in contact between the inner claw and the first side wall is less than or equal to the stacking allowance. The gripping device according to claim 1 .
  3. A gripping robot equipped with the gripping device described in claim 1 or 2, The arm to which the gripping device is attached, A gripping robot comprising a control unit that moves the gripping device by extending or bending the arm.
  4. A gripping method for gripping a box using a gripping device of a gripping robot equipped with a first auxiliary gripping part and a second auxiliary gripping part , The box comprises first, second, third, and fourth side walls, The first and second side walls are connected, The first and third side walls are opposite each other, The second and fourth side walls face each other, The first step is to grip the first side wall by sandwiching the inner wall surface and the outer wall surface of the first side wall with the first gripping portion, The steps include gripping the second side wall by sandwiching the inner and outer wall surfaces of the second side wall with the second gripping portion , The steps include: moving the box upward while gripping the first side wall and the second side wall, then pressing the first auxiliary gripping part, which can approach and move away from the first gripping part , against only the outer wall surface of the third side wall to assist the gripping of the box by the first gripping part ; The steps include: moving the box upward while gripping the first side wall and maintaining gripping the second side wall, then pressing the second auxiliary gripping part, which is able to approach and move away from the second gripping part, only against the outer wall surface of the fourth side wall to assist the gripping of the box by the second gripping part; Equipped with, Grasping method.

Description

This disclosure relates to a gripping device, a gripping robot, and a gripping method. The picking device disclosed in Patent Document 1 lifts a container. More specifically, the container comprises a first side wall, a second side wall, a first edge, and a second edge. The second side wall faces the first side wall. The first edge extends outward from the upper end of the first side wall. The second edge extends outward from the upper end of the second side wall. More specifically, the picking device disclosed in Patent Document 1 first engages a fixed claw with the first edge of the container, then lifts and moves it to a certain extent laterally. Afterward, the device moves a movable claw and engages it with the second edge of the container to lift it. Japanese Patent Application Publication No. 5-319575 This is a schematic diagram showing one configuration of a gripping robot according to Embodiment 1.This is a schematic diagram showing one example configuration of a gripping device according to Embodiment 1.This is a flowchart showing the gripping method according to Embodiment 1.This is a perspective view showing one example configuration of two stacked boxes.This is a schematic diagram showing a cross-section of one example configuration of two stacked boxes at the cutting line IV-IV.This is a schematic diagram showing a part of the gripping method according to Embodiment 1.This is a schematic diagram showing a part of the gripping method according to Embodiment 1.This is a schematic diagram showing a part of the gripping method according to Embodiment 1. The following describes specific embodiments of the present invention in detail with reference to the drawings. However, the present invention is not limited to the following embodiments. Furthermore, for clarity, the following description and drawings have been simplified as appropriate. <Embodiment 1> Embodiment 1 will be described with reference to Figures 1 and 2. Figure 1 is a schematic diagram showing one configuration of a gripping robot according to Embodiment 1. Figure 2 is a schematic diagram showing one example of a configuration of the gripping device of the gripping robot shown in Figure 1. It should be noted that the right-handed XYZ coordinate system shown in Figure 1 and other drawings is merely a convenient representation for explaining the positional relationships of the components. Typically, the positive Z-axis direction represents the vertical upward direction, and the XY plane represents the horizontal plane; this is consistent across all drawings. As shown in Figure 1, the gripping robot 100 comprises a gripping device 10, a control device 30, and an arm 40. The gripping robot 100 may further include an image processing device 20. The image processing device 20 is positioned to capture images of the box group BB from above. The box group BB is held on a pallet PP placed on the ground GS or the like. The box group BB includes multiple boxes B1, B2, B3, B4, etc. The number of boxes B1, etc. constituting the box group BB is not particularly limited. The multiple boxes B1, B2, B3, B4, etc. may be stacked in a roughly rectangular or cubic shape, for example. The multiple boxes B1, B2, B3, B4, etc. may have the same configuration. The image processing device 20 detects the position of a predetermined box from the image captured of the box group BB. The predetermined box is one of the multiple boxes B1, B2, B3, B4, etc. The image processing device 20 may be positioned above the box group BB, on the gripping device 10, or on the arm 40. The control device 30 acquires the position of a predetermined box detected by the image processing device 20. The control device 30 may also acquire an image of the box group BB taken from above. Based on this acquired image, the control device 30 controls the operation of the arm 40 and the gripping device 10. The control device 30 may also acquire the starting position and ending position of the gripping device 10. The arm 40 comprises, for example, a main body 41, members 42, 44, and 46, joints 43, 45, and 47, and a hand 48. Member 42 is supported by the main body 41. Member 44 is rotatably connected to member 42 via joint 43. Member 46 is rotatably connected to member 44 via joint 45. Hand 48 is rotatably connected to member 46 via joint 47. Hand 48 includes a gripping device 10. The arm 40, by rotating the hand 48 and members 42, 44, and 46 while the gripping device 10 grips the box B1, can freely translate or rotate the box B1 within a predetermined three-dimensional space and change its orientation to face a predetermined direction, as described above. As shown in Figures 1 and 2, the gripping device 10 comprises a main body 10a, a first main claw 1, a second main claw 2, and a first auxiliary claw 3. The gripping device 10 may further include a second auxiliary claw 4. The gripping device 10 can be freely translated or rotated within a predetermined three-dimensional space, and its orientation