JP2010207994A - Electric tweezers - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To electrically rotate the holding part of an electric tweezers in a closed state, and enable the adjustment of the rotation amount and the opening/closing amount. <P>SOLUTION: In the electric tweezers 1, when a switch 33 is operated, a motor 31 is rotated toward a first direction so that a cam follower 55 moves in parallel to allow opened tweezers 20 to close. Afterward, when the switch 33 is operated again, the motor 31 is rotated in the first direction so as to rotate a transmitting part 70 and a rotating part 80, and a connecting part 22c and ends 21a, 22a of the tweezers 20 are rotated while the tweezers 20 is in the closed state. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to electric tweezers.

  As described in the following patent document proposed by the inventor, the conventional electric tweezers include a motor, a case portion for housing the motor, an edge portion connected to the case portion, and a joint portion that is reciprocated. The opening / closing amount of the tip is enlarged based on the translational displacement, and the gripping member for releasing and gripping the object, the switch means for rotating and stopping the motor, and the case unit are housed in the case and connected to the shaft of the motor In addition, there is a conversion mechanism that converts rotation in one direction of the motor into a translational displacement amount in a predetermined reciprocating direction with respect to the coupling portion of the gripping member (Patent Document 1).

  According to the electric tweezers, the conversion mechanism converts the rotation of the motor in one direction into a predetermined reciprocal translational displacement amount with respect to the coupling portion of the gripping member, and the switch means rotates and stops the motor. Moreover, the translational displacement amount of the coupling portion of the gripping member becomes a predetermined value so that the opening / closing amount of the gripping member is constant. Therefore, for example, an electric tweezer for gripping and releasing a certain object can be easily obtained.

WO2003 / 047816

However, when gripping parts with small front and back with electric tweezers on a tray having a large number of recesses and setting them in the recesses of the tray, the tweezers are rotated after gripping the parts and the posture of the parts is changed. A number of parts are arranged in the recesses of the tray. The inventor has found that such work, in particular, the work of rotating the tweezers, is a very complicated work not only for a healthy person but also for a handicapped person having a handicapped hand.
In order to solve such a troublesome work, there is a means of using a reversing device that rotates the part by 180 ° while the part is inserted into the insertion slot and discharged, but if the part held by tweezers is not released and dropped In addition, it is necessary to perform an operation of grasping and releasing the tweezers, and there is a possibility that the parts themselves may be damaged when they are reversed. There is a problem that the reversing device itself requires an installation place.
For this reason, in order to solve such a complicated operation, the inventor has found that the component may be rotated while the component is held with tweezers.
Furthermore, the inventor adjusts the amount of tweezers closed in order to grip the part according to the material, size, etc. of the part, and similarly adjusts the amount of tweezers released to properly release the part. It was found that the initial rotation position of the tweezers was adjusted according to the position of the tweezers, and the rotation position of the tweezers in the closed state was adjusted according to the position where the parts were released.

  The present invention has been made to solve the above-described problems. The tweezers can be electrically opened and closed, and the tweezer gripping portion can be rotated in the closed state, and the tweezers can be opened or closed. It is an object of the present invention to obtain an electric tweezer that can adjust at least one of an initial rotation angle of a gripping portion or a rotation angle of a tweezers gripping portion in a closed state.

  The electric tweezers of the present invention has a V-shaped side composed of a case, a first V-shaped first inner side and a first outer side, and an end of the first inner side on the open side of the V-shaped side. A first gripping member having an open side end portion of the first outer side of the V-shaped side, and a V-shaped side composed of a substantially V-shaped second inner side and a second outer side, A second gripping member having an end of a second inner side on the open side of the V-shaped side and an open side end of the second outer side of the V-shaped side; By pulling the end portions of the first and second inner sides of the second gripping member, the displacement amount of the tip of the V-shaped side of the first and second gripping members is expanded inward than the amount of the translational movement. A first tweezers having a gripping part for releasing and gripping the object, a cam built in the case and connected and fixed to the shaft of the motor, and the cam And a cam follower that slides, the translation of the cam follower is translated by rotating the cam in a first direction, and the cam follower is rotated by rotating the cam in the first direction. A mechanism, a built-in case, connected to and fixed to the cam follower, an open side end of the first inner side of the first gripping member, and an open side end of the second inner side of the second gripping member A first transmission portion coupled to the first and second housings, and a built-in case connected to and fixed to the cam follower, and an open-side end portion of the first outer side of the first gripping member and a second outer side of the second gripping member. A first rotating part connected and fixed to an open side end of the side, a switch means for operating and stopping the motor, and when the switch means is operated, the motor is rotated in the first direction and the first tweezers When the switch means is operated after being closed from being opened, the motor is rotated based on the first control means for rotating the first tweezers and rotating the first tweezers in the same direction as the first direction. Input means for generating a rotation angle command signal, and second control means for adjusting at least one of an opening amount, a closing amount, or a rotation amount of the first tweezers based on the rotation angle signal. It is characterized by this.

According to the electric tweezers of the present invention, when the operator operates the switch means, the first control means rotates the motor in the first direction, the cam rotates and the total length of the cam and the cam follower is shortened and connected to the cam follower. Further, the tweezers coupling portion is pulled via the first transmission portion, and the first tweezers are closed from the open state to grip, for example, a component. Further, when the first control means rotates the motor in the same direction as the first direction, the cam follower is rotated by the rotation of the cam while the first length of the cam and the cam follower is maintained, and the first transmission unit is rotated. Thereby, the coupling | bond part of a 1st tweezers rotates in the state which closed the 1st tweezers, ie, the state which hold | gripped components.
When the operator operates the switch means with the first tweezers closed, the control means rotates the motor in the second direction opposite to the first direction, the cam rotates, and the total length of the cam and the cam follower increases. The connecting portion of the first tweezers is restored via the first transmission portion connected to the cam follower, and the first tweezers is released from closing to release the parts.

When the switch means is operated, the first control means rotates the motor in the first direction to close the first tweezers from the open state, and when the switch means is operated, the motor is rotated in the first direction to tweezers. Rotate a certain angle in the closed state. When the switch means is operated, the motor is rotated in the second direction to release the first tweezers from the closed state.
Therefore, when the switch means is operated, the gripping part of the first tweezers can be rotated in the closed state after electrically closing the first tweezers from the open state. For this reason, since the first tweezers are rotated while holding the component with the first tweezers, the posture of the component can be easily changed. Therefore, for example, it becomes easy to place components having directionality and components having front and back sides on the tray. Then, when the switch means is operated, the first tweezers are opened from the closed state by electricity to release the parts.
Further, when the input means is operated, the second control means generates a rotation angle signal of the motor based on the operation amount of the operation unit, and the opening amount, closing amount, or rotation amount of the first tweezers based on the rotation angle signal. Since at least one of these is adjusted, the opening amount and closing amount of the first tweezers can be adjusted according to the material, size, shape, etc. of the parts to be gripped by the first tweezers. Further, the rotational position of the first tweezers in the open state can be adjusted in accordance with the position where the component is placed. In addition, the rotational position of the first tweezers in the closed state can be adjusted according to the position where it is placed.

In addition, since the first tweezers are composed of the first gripping member and the second gripping member having a displacement expanding function, the target object is gripped by the first and second gripping members. However, the object can be easily grasped.
Moreover, it is preferable that the 1st and 2nd control means are incorporated in the case. This is because the operation of the electric tweezers is simplified.
Further, it is preferable that the cam follower is pressed against the cam by a compression spring. The cam displacement is easily transmitted to the cam follower.

  The electric tweezers of the present invention are opposed to the first gripping member instead of the second gripping member, and have one end and the other end gripping an object by the first inner side of the first gripping member. When the end of the first inner side of the first gripping member is pulled based on the translational movement and the opposing member, the displacement of the tip of the V-shaped side of the first gripping member is more than the amount of the translational movement. The amount is expanded inward, the second tweezers having a gripping part for releasing and gripping the object together with the opposing member, and instead of the first transmission part, it is built in the case and connected and fixed to the cam follower. The second transmission part connected to the open side end of the first inner side of the first gripping member, and instead of the first rotating part, it is built in the case and connected and fixed to the cam follower, Of the first outer side of the first gripping member And a second rotating part which is fixedly connected to the discharge side end, one end of said opposing member is fixedly connected to the transmission unit or the rotating unit, it is preferable.

  According to the electric tweezers of the present invention, since the second tweezers are composed of the opposing member and the first gripping member having a displacement expanding function, the second tweezers can be formed more easily than the first tweezers.

In the electric tweezers according to the present invention, the first control means further moves the motor in a second direction opposite to the first direction with the first or second tweezers closed based on the operation of the switch means. It is preferable to rotate to release the first or second tweezers from closing.
Therefore, the component can be released by opening the first or second tweezers after changing the posture of the component by rotating while holding the component by the first or second tweezers.

The electric tweezers of the present invention comprises a rotation angle detection means for detecting a rotation angle of the motor and outputting a rotation angle detection signal, and the control means is a rotation angle command determined in advance based on the operation of the switch means. It is preferable to control the motor so that the rotation angle detection signal matches the signal.
According to the electric tweezers of the present invention, there is provided rotation angle detection means for detecting the rotation angle of the motor and outputting a rotation angle detection signal, and the control means detects the rotation angle in the rotation angle command signal based on the operation of the switch means. The motor is controlled so that the signals match.
Thereby, since the motor can be stopped at a desired rotation angle value, for example, the opening amount, the rotation angle, and the closing amount of the first or second tweezers can be easily positioned.

The switch means in the electric tweezers of the present invention comprises first switch means and second switch means, and the first control means rotates the motor in the first direction based on the operation of the first switch means. The first or second tweezers are closed from the open state, and further, the motor is rotated in the first direction based on the operation of the first switch means, and the first or second state is set in the closed state. The tweezers are rotated, and the first control means rotates the motor in a second direction opposite to the first direction based on the operation of the second switch means to close the first or second tweezers. It is preferable to open.
According to such electric tweezers, the first or second tweezers are closed from the open state by the operation of the first switch means, the tweezers are rotated in the closed state, and the first switch means is operated by the operation of the second switch means. Alternatively, since the second tweezers are released from closing, the first, second tweezers close, rotate and open based on the respective operations of the first switch means and the second switch means. This makes it easier for the operator to issue an operation command for opening or closing the first or second tweezers.

The switch means in the electric tweezers of the present invention comprises first switch means and second switch means, and the first control means rotates the motor in the first direction based on the operation of the first switch means. The first or second tweezers are closed from the open state, and the first control means rotates the motor in the first direction based on the operation of the second switch means to turn the first or second tweezers. Rotating in a closed state, and further rotating the motor in a second direction opposite to the first direction based on the operation of the second switch means to release the first or second tweezers from the closed state; It is preferable.
According to such electric tweezers, the first or second tweezers are closed from the open state by the operation of the first switch means, and the first or second tweezers are closed by the operation of the second switch means. Alternatively, the second tweezers are rotated and the tweezers are released from the closed state, so that the first or second tweezers are closed and rotated based on the respective operations of the first switch means and the second switch means to close the second tweezers. Therefore, it becomes easy for an operator to issue an operation command for opening or closing the first or second tweezers.

The electric tweezers of the present invention comprise third switch means for returning the motor to a predetermined rotation origin position, and the encoder generates an origin position detection signal when the motor reaches the rotation origin position, and the control The means generates the origin position command signal with the tweezers opened or closed based on the operation of the third switch means, and generates the origin position detection signal for the motor based on the origin position command signal. It is preferable to rotate and stop in a certain direction until it stops.
As a result, the electric tweezers can be easily returned to the rotation origin position of the motor based on the operation of the third switch means, so that the tweezers are opened from the closed position, and the tweezers are rotated from the closed position to the open position. The operation of is sure.
Further, it is preferable to rotate the motor in one direction by 360 ° or more. This is because the reference rotational position of the tweezers can be set to the origin position with the tweezers opened or closed regardless of the operation state of the tweezers.

In the transmission part of the electric tweezers according to the present invention, the transmission part has a first member connected to the coupling part of the first or second tweezers, and the first member comes into contact with the cam. It is preferable that the cam follower is fixed to the upper center of the cam follower on the opposite side of the surface. Thereby, a transmission part can be comprised simply.
The first member includes a first magnetic member and a first fixing member that is magnetically attracted to the first magnetic member and fixes a coupling portion of the first or second tweezers. The first magnetic member is located at the center of the cam follower. It is preferable to fix to the upper part. Thereby, the connection part of the 1st or 2nd tweezers can be easily attached or detached from the 1st magnetic member.

The rotating part of the electric tweezers of the present invention comprises a pin member that transmits the rotation of the cam follower,
It is preferable to include a rotating member that rotates with the rotation of the pin member and that is connected and fixed to the other end of the first or second tweezers. Thereby, a rotation part can be comprised simply.
For example, the cam follower is formed in a columnar shape, the rotating member is cylindrical, and is loosely inserted in the upper part of the cam follower, and the cam follower is provided with at least one through hole on the side surface. It is preferable that at least two long holes penetrating on the same straight line as the through hole of the cam follower are provided, and the pin member is inserted and fixed in the through hole and loosely inserted into the long hole.
Further, the ring-shaped second magnetic member and the other end of the first or second tweezers are fixed and mounted on the second magnetic member while being fixed to the circumferential edge of the rotating member. It is preferable to include a second fixing member. Thereby, the other end part of the 1st or 2nd tweezers can be easily attached or detached from the 2nd magnetic member.

  In the conversion mechanism in the electric tweezers of the present invention, the cam is provided with a hemispherical first groove, the cam follower is provided with an inclined surface and an arc-shaped second groove, It is preferable to include a ball member that is inserted into the first groove and slides with an end surface of the cam follower, and a column member that is connected and fixed to the cam and loosely inserted into the second groove. Thereby, a conversion mechanism can be comprised simply.

  According to the present invention, the tweezers can be electrically opened and closed, and the tweezer gripping portion can be rotated in the closed state, and the tweezer opening amount or closing amount, or the initial rotation angle of the tweezer gripping portion or the tweezer gripping At least one of the rotation angles in the closed state of the part can be adjusted. Therefore, it becomes easy to adjust the opening / closing amount and the rotational position of the tweezers according to the material, size, shape, position, etc., to be gripped by the electric tweezers.

1 is an overall view of an electric tweezers showing an embodiment of the present invention. It is a block diagram of the motor control relation of the electric tweezers shown in FIG. It is sectional drawing (a) of the electric tweezers shown in FIG. 1, and the top view (b) by the side of a cam. It is a perspective view of the tweezers shown in FIG. It is a perspective view of tweezers by other embodiments. It is the front view (a) and bottom view (b) of the cam which are shown in FIG. It is the front view (a), side view (b), and bottom view (c) of the cam follower shown in FIG. It is the top view (a) of the turntable shown in FIG. 1, and a front view (b). It is the top view (a) and front view (b) of the 2nd fixing member shown in FIG. It is a time chart for operation | movement explanation which shows operation | movement of the electric tweezers shown in FIG. FIG. 2 is a partial cross-sectional view (a) showing the operation of each part in the open state of the electric tweezers according to FIG. FIG. 2 is a partial cross-sectional view (a) showing the operation of each part in the closed state of the electric tweezers according to FIG. FIG. 2 is a partial cross-sectional view (a) showing an operation of each part in a 90 ° rotation operation in the gripping state of the electric tweezers according to FIG. 1, and a plan view (b) on the cam side. It is a partial cross section (a) which shows operation | movement of each part in 180 degree rotation operation | movement in the holding state of the electric tweezers by FIG. 1, and the top view (b) on the cam side. FIG. 12 is a partial cross-sectional view (a) showing the operation of each part in the open state of the tweezers after the rotation operation of FIG. It is a displacement diagram of the cam used for the electric tweezers shown in FIG. It is a general view of the electric tweezers which shows other embodiment of this invention. It is a block diagram of the motor control relation of the electric tweezers shown in FIG. It is a perspective view of the 2nd tweezers by other embodiments of the present invention. It is a perspective view of the tweezers unit which incorporated the 2nd tweezers in the turntable. It is the left view (a), front view (b), and right view (c) of the cam assembly which shows other embodiment of this invention. It is a block diagram of the motor control relation of the electric tweezers shown in FIG.

Embodiment 1 FIG.
An electric tweezers according to an embodiment of the present invention will be described with reference to FIGS. 1 is an overall view of an electric tweezers showing an embodiment of the present invention, FIG. 2 is a block diagram of motor tweezers related to the electric tweezers shown in FIG. 1, and FIG. 3 is a sectional view of the electric tweezers shown in FIG. FIG. 4 is a perspective view of the tweezers shown in FIG. 1, FIG. 5 is a perspective view of the tweezers of another embodiment, and FIG. 6 is a front view of the cam according to FIG. 7 is a front view (a), a side view (b), a bottom view (c), and FIG. 8 of the cam follower according to FIG. b) and FIG. 9 are a plan view (a) and a front view (b) of the second fixing member shown in FIG.
In FIG. 1, an electric tweezer 1 includes a case 10, a first tweezers 20, a motor mounting plate 15, a motor 31, a control unit 100 as first and second control means for controlling driving of the motor 31, and control. And a first switch box 200 that gives a rotation command signal to the motor 31 via the unit 100.
The motor 31 is a geared type and is provided with an encoder 35 as a rotation angle detection means. The encoder 35 detects the rotation angle of the motor 31 and outputs a rotation detection angle detection signal, and can detect the absolute position. When the rotation angle of the motor 31 is located at the origin, the origin position signal is also output.

In FIG. 2, the first switch box 200 includes a closing / rotating switch 201 as a first switch means for generating an operation signal for rotating the first tweezers 20 from opening to closing, and the first tweezers 20. An opening switch 202 as a second switch means for generating an operation signal for releasing the operation from the closed state, a rotation angle signal for forward rotation or reverse rotation of the motor 31 based on the operation amount of the operation unit, and the first tweezers An adjustment switch 203 as an input means for adjusting at least one of an opening amount, a closing amount, and a rotation angle of 20, and an origin return switch 205 as a third switch means for returning the motor 31 to a predetermined origin position; It has.
The switch means the closing / rotation switch 201 as the first switch means and the opening switch 202 as the second switch means.
The adjustment switch 203 is a joystick type.
Further, the close / rotate switch 201 and the open switch 202 may be a single switch.

When the operator presses the close / rotate switch 201 for a while, the first control unit 100 rotates the motor 31 in the first direction at 120 ° in the first direction and closes the first tweezers 20 from the open state. When the rotation detection angle of the encoder 35 reaches 120 °, the motor 31 is stopped. Next, the closing / rotation switch 201 is pressed once to rotate the motor 31 in the positive direction of 180 ° as the second angle, and the first tweezers. 20 and the first control means for stopping the motor 31 when the rotation detection angle of the encoder 35 reaches 180 °.
Further, when the operator depresses the release switch 202 for a while, the first control unit 100 rotates the motor 31 in the reverse direction as the second direction opposite to the 120 ° first direction as the first angle. Is opened from the closed state, and when the rotation detection angle of the encoder 35 reaches 120 °, the motor 31 is stopped so as to have a function as a first control means.
Furthermore, the first control unit 100 returns the initial rotation position by reversely rotating the first tweezers by reversely rotating the motor 31 in the second direction of 180 ° as the second angle by the operator pressing the release switch 202 by one inch. At the same time, the motor 31 is stopped when the rotation detection angle of the encoder 35 reaches 180 °.

When the operator tilts the adjustment switch 203 to the right for a certain period of time, the first control unit 100 closes the closing amount of the first tweezers 20 and the closing force of the first tweezers 20 based on the rotation angle signal of the motor 31 rotating forward. It is formed to adjust the amount of rotation in the state.
Furthermore, when the operator tilts the adjustment switch 203 leftward for a certain period of time, the first control unit 100 causes the motor 31 to rotate at the initial rotation position in the open state of the first tweezers 20 based on the reverse rotation angle signal. It is formed so as to adjust the opening amount of the tweezers 20. Thus, the 1st control part 100 has a function as the 2nd control means.

In FIG. 3, the electric tweezers 1 includes a first tweezers 20 and a case 10, and includes a first conversion mechanism 50, a transmission unit 70, and a rotation unit 80. The case 10 is a non-magnetic material made of aluminum and includes a cylindrical lid 5 and a cam folder 7.
The first tweezers 20 has two V-shaped sides 20V for gripping (closing) or opening the component 2 as an object. The motor 31 translates and displaces the coupling portion 22c, which joins the one end portions of the first tweezers 20, and rotates the coupling portion 22c of the first tweezers 20 and both edges 21a, 22a as the other end portions. It is a source.

  The first conversion mechanism 50 includes a first cam 51 that is connected and fixed to the shaft 31a of the motor 31, and a first cam follower 55 that slides on the first cam 51. The first cam follower 55 is translated by rotating in the direction, and the first cam follower 55 is rotated by rotating the first cam 51 in the first direction. That is, the first cam follower 55 is formed to translate or rotate by the rotation of the first cam.

The first conversion mechanism 50 includes a cam-side intermittent rotation pin 57 engaged and fixed to the first cam 51. When the motor 31 rotates in the first direction by 120 °, the first cam 51 rotates and becomes intermittent. The rotation pin 57 slides in the groove 55u of the first cam follower 55 so that the first cam follower 55 translates (is pushed in) in the direction B shown in FIG. Further, when the motor 31 is rotated 180 ° in the first direction, the intermittent rotation pin 57 is formed so as to contact the edge of the groove 55 u and rotate the first cam follower 55.
That is, the first cam 51, the first cam follower 55, and the intermittent rotation pin 57 include a translational movement source that transmits translational displacement to the coupling portion 22 c of the first tweezers 20, and the first cam follower 55 that is asynchronous with the translational movement source. The rotation is a rotation source that rotates both edges 21 a and 22 a of the first tweezers 20.

The first cam follower 55 includes a first column and a second column that is thicker than the first column. A coil-shaped compression spring 59 is inserted into the first column, and the first cam follower is supported by the bottom surface of the turntable 82. 55 presses against the first cam 51 via the ball 53.
Further, the translational displacement of the first cam follower 55 is formed so that the translational displacement of the forward path and the backward path are the same.

The first transmission part 70 transmits the translational movement and rotation of the first cam follower 55 to the coupling part 22c of the first tweezers 20, and is a first magnet composed of a columnar magnet fixed to the central recess 55a of the first cam follower 55. A cylindrical first fixing member 74 is fixed on the first magnetic member 72, and the coupling portion 22 c of the first tweezers 20 is fixed to the hole 74 e of the first fixing member 74 with a screw 76. Has been. Here, the first magnetic member 72 and the first fixing member 74 are referred to as a first member.
Thereby, since the coupling portion 22c of the first tweezers 20 is connected and fixed to the first cam follower 55, the displacement amount of the central portion of the first cam follower 55 pulls the coupling portion 22c of the first tweezers 20 in the arrow B direction. The first tweezers 20 are closed and opened by returning to the direction of the arrow A, and the coupling portion 22c of the first tweezers 20 is rotated by rotating the first cam follower 55. .

  The first rotating portion 80 is connected and fixed to the edge portions 21a and 22a of the first tweezers 20, and even if the first cam follower 55 moves in translation, the edge portions 21a and 22a do not move in translation. The cam follower 55 rotates the edges 21a and 22a of the first tweezers 20 and has a turntable 82 that is loosely inserted into the first cylinder of the first cam follower 55, and a columnar rotation transmission pin 84 is provided. While being loosely inserted into the guide hole 82 s of the turntable 82, it is inserted and fixed in the hole 55 e of the first cam follower 55.

  Further, the rotating part 80 is inserted into and fixed to the tip cylinder of the turntable 82, and the ring-shaped second magnetic member 86 made of a magnet for connecting and fixing the edges 21a and 22a of the first tweezers 20, and the first The edges 21 a and 22 a of the tweezers 20 are fixed, and a ring-shaped second fixing member 88 is provided. The edges 21 a and 22 a of the first tweezers 20 are connected and fixed to the turntable 82. The upper edge of the second magnetic member 86 is in contact with the inner corner of the lid 5, and the compression spring 59 is connected to the second cylindrical member of the first cam follower 55 via the second magnetic member 86 and the turntable 82. The top surface is pressed.

The rotating unit 80, that is, the rotating table 82, the second magnetic member 86, and the second fixing member 88 are formed so as to be able to slide and rotate within the case 10.
As a result, when the first cam follower 55 is translated, the rotation transmission pin 84 slides on the guide hole 82s of the turntable 82 so that the turntable 82 does not rotate, and when the first cam follower 55 rotates, the rotation transfer pin 84 84 is rotated, the turntable 82 is also rotated, and the edges 21a and 22a of the first tweezers 20 are formed to rotate. Regardless of the translational displacement and rotation of the first cam follower 55, the rotary table 82 always maintains a fixed position, and the edges 21a and 22a of the first tweezers 20 connected to the rotary table 82 also have a fixed position. Is maintained.

  Such an electric tweezer 1 is configured such that after the first tweezers 20 are closed from being opened by rotating the motor 31 in the first direction, the first tweezers 20 are rotated by rotating the motor 31 in the same direction as the first direction. After rotating both edges 21a and 22a of the first tweezers 20 in the closed state, when the motor 31 is further rotated in the second direction opposite to the first direction, the first tweezers 20 is released from the closed state. Is formed.

Next, the structure of the main parts of the electric tweezers 1 will be described with reference to FIGS.
In FIG. 4, the first tweezers 20 is substantially M-shaped and is formed of a flat plate, has a V-shaped side of a beam shape and a substantially inverted V shape, and has a first gripping member 21 and a second gripping member 22. is doing.
And since the material of the 1st tweezers 20 has a displacement expansion function, it is preferable to have a spring property.

The first holding member 21 is composed of a straight plate-like first inner side 21h, a first inner side 21h having a similar shape, and a straight first outer side 21f. A first grip portion 21x that grips the electronic component 2 and the like is provided at a flat tip portion where the side 21h and the first outer side 21f are coupled. Similarly, the second V-shaped side member 22 includes a straight second inner side 22h, a second inner side 22h, and a straight second outer side 22f. The second inner side 22h A second gripping portion 22x for gripping the electronic component 2 or the like at a flat tip portion to which the second outer side 22f is coupled.
A shared portion serving as a coupling portion 22c is formed by coupling the open ends of the first inner side 21h and the second inner side 22h.
The grip 20x of the first tweezers 20 is a combination of the first grip 21x and the second grip 22x.

  The first tweezers 20 includes a first gripping portion 21x and a second gripping portion 22x, and in a direction opposite to the gripping portion 20x that grips the electronic component 2 and the first gripping portion 21x on the first outer side 21f. The L-shaped first edge 21a having a flat surface provided substantially parallel to the coupling portion 22c and the second outer side 22f provided in parallel with the coupling portion 22c in the opposite direction to the second gripping portion 22x. And an L-shaped second edge 22a having a flat surface.

The coupling portion 22c of the first tweezers 20 has a plane portion that intersects with the second inner side 22h, and a circular through hole 22e is formed in the plane portion, and the outer surface is formed flat. Yes.
As described above, the first tweezers 20 are held by the first edge portion 21a and the second edge portion 22a being fixed to the second fixing member 88, and the coupling portion 22c is pulled or returned based on the translational displacement. The tip of the portion 20x is inside, in other words, the gripping portion 20x grips the component 2 by being enlarged and displaced in a direction substantially perpendicular to the direction of the translational displacement, that is, in a direction transverse to the direction of the translational displacement. It is configured to open (close) or open.

  The first tweezers 20 has a single coupling portion 22c. As shown in FIG. 5, the first gripping member 21 is separated from the first gripping member 21 by separating the first gripping member 21 and the second gripping member 22. Of the first inner side 21h and the second inner side 22h of the first inner side 21h in which the open end of the first inner side 21h and the open end of the second inner side 22h of the second gripping member 22 are respectively formed in an L shape. The open side end 22d may be provided, and the open side end 21d of the first inner side 21h and the open side end 22d of the second inner side 22h may be fixed to the transmission unit 70.

  In FIG. 6, the first cam 51 is a cylinder, both end surfaces are formed to be flat, and has a through hole 51 e in which the shaft 31 a of the motor 31 is inserted and fixed at the center. The first cam 51 has a hemispherical groove 51b provided off the center at one end surface facing the first cam follower 55, and a cylindrically-shaped engagement symmetrically with respect to the groove 51b and the central axis of the cylinder. A stop hole 51p is provided, a ball 53 as a first head portion is placed in the groove 51b, and an intermittent rotation pin 57 is inserted and fixed in the locking hole 51p.

In FIG. 7, the first cam follower 55 has a two-stage columnar shape, and includes a first column 55b and a second column 55c that is thicker than the first column 55b. While contacting, it has the contact surface 55s as an outline formed diagonally, and the circular-arc-shaped groove | channel 55u which loosely inserts the intermittent rotation pin 57. This groove 55u is for sliding the intermittent rotation pin 57 when the first cam 51 rotates 120 °.
A cylindrical recess 55a for inserting and fixing the first magnetic member 72 is provided on the end surface side of the first cylinder 55b, and a hole 55e for inserting and fixing the rotation transmission pin 84 is provided in the vicinity of the recess 55a. Is provided.

  In FIG. 8, the turntable 82 has a two-stage cylindrical shape, and includes a first cylinder 82b for inserting and fixing the hole of the ring-shaped second magnetic member 86, and a second cylinder 82c thicker than the first cylinder 82b. A circular hole 82e is provided at the center of the turntable 82 to guide translational movement of the first cylinder 55b of the first cam follower 55, and rotation transmission pins are provided on both sides of the second cylinder 82c. An elongated hole-shaped guide hole 82 s is provided to guide translational movement at both ends of 84.

In FIG. 9, the second fixing member 88 has a flat plate-like substantially donut shape in plan view, and two substantially T-shaped notches 88a are formed around the hole 88e. The outer side is formed so as to be slidably inserted into the inner surface of the holder member 5 of the case 10, and the edge portions 21 a and 22 a of the first tweezers 20, that is, the first and second gripping members 21 and 22. The open side ends of the first and second outer sides 21f, 22f are engaged and fixed in the notch 88a.
Here, what assembled the 1st tweezers 20 and the 2nd fixing member 88 is called tweezers unit.

The operation of the electric tweezers configured as described above will be described with reference to FIGS. 2 and 10 to 16.
<Normal operation>
First, the initial state is when the rotation angle of the motor 31 is 0 ° with the first tweezers 20 opened. The rotation of the motor 31 from this initial state is a forward rotation when the intermittent rotation pin 57 rotates in a direction in which the groove 55u of the first cam follower 55 can slide.
In the state where the first tweezers 20 is open, as shown in FIG. 11, since the ball 53 is in contact with the lower portion of the bottom surface of the first cam follower 55, from the upper end surface of the first cam 51 to the upper end surface with the first cam follower 55. Is the longest (hereinafter referred to as the translational distance). At this time, since the coupling portion 22c of the first tweezers 20 is not pulled at all, the first tweezers 20 is in an open state.

Next, when the operator holds the electric tweezers 1 and pushes the close / rotate switch 201 one time to rotate the motor 31 forward by 120 ° via the first control unit 100, the first cam follower 55 is moved to the compression spring 59. The ball 53 is in contact with the bottom of the bottom surface of the first cam follower 55 from the bottom to the top. For this reason, as shown in FIG. 12, the said translation distance becomes short. At this time, since the intermittent rotation pin 57 slides in the groove 55u of the first cam follower 55, the first cam follower 55 only moves in translation and does not rotate. As a result, the rotating unit 80 does not rotate and is held at the same position. For this reason, the edges 21a and 22a of the first tweezers 20 are stationary at the same position.
On the other hand, since the coupling portion 22c of the first tweezers 20 is pulled by ΔL via the transmission portion 70, the first tweezers 20 is closed from the open state and grips the component 2 due to the translational displacement of the first cam follower 55. It becomes.

Next, when the operator holds the electric tweezers 1 and pushes the close / rotate switch 201 one more time to further rotate the motor 31 forward 180 degrees via the first control unit 100, the intermittent rotation pin 57 is moved to the first cam follower. Since the first cam follower 55 rotates in synchronization with the motor 31 because it is in contact with the edge of the groove 55u of the 55, the transmission unit 70 and the rotation unit 80 also rotate. As shown in FIG. 14, the first tweezers 20 is rotated 180 ° as a whole by the coupling portion 22 c by the transmission portion 70 and the edge portions 21 a and 22 a by the rotation portion 80.
During this rotation, the positional relationship between the first cam follower 55 and the ball 53 does not change, and thus the translation distance does not change. Therefore, the first tweezers 20 rotates while gripping the component 2 while maintaining the closed state.
FIG. 13 shows a state of 90 ° rotation during the 180 ° rotation.

Next, when the operator holds the electric tweezers 1 and pushes the release switch 202 once to rotate the motor 31 backward by 120 ° via the first control unit 100, the intermittent rotation pin 57 is inserted into the groove of the first cam follower 55. 55u is rotated and slid. For this reason, since the 1st cam follower 55 does not rotate, the rotation part 80 also does not rotate and the 1st tweezers 20 does not rotate.
On the other hand, the contact point between the ball 53 and the first cam follower 55 moves from the upper part to the lower part of the bottom surface. For this reason, as shown in FIG. 15, the said translation distance becomes long. And since the connection part 22c of the 1st tweezers 20 is not pulled at all, the 1st tweezers 20 opens.
FIG. 16 shows the first tweezers 20 in an open state, a gripping (closed) state, a gripping rotation state that rotates while gripping, and a displacement curve of the first conversion mechanism 50 that opens from the gripping rotation state.

<Home position return operation>
To return the first tweezers 20 of the electric tweezers 1 to the origin position, when the origin return switch 205 is pressed once, the first control unit 100 generates an origin position command signal and sends the origin position command signal to the motor 31. Then, until the encoder 35 detects the origin position detection signal, the motor 31 is rotated 360 ° or more in a certain direction to return to the origin position. Thereby, the tweezers 20 of the electric tweezers 1 are in the reference open state.
Here, the reason why the motor 31 is rotated 360 ° or more in one direction is that the reference rotational position of the tweezers 20 can be set to the origin position with the tweezers 20 opened, regardless of the operation state of the tweezers 20.
The origin position may be a reference rotational position when the tweezers 20 are closed.

Next, as an adjustment operation of the electric tweezers 1, refer to FIG. 2 and FIGS. 10 to 16 in order of adjustment of the initial rotational position in the opened state, adjustment of the closing amount, adjustment of the rotating position in the closed state, and adjustment of the opening amount. To explain.
<Adjustment of initial rotation position when electric tweezers is open>
First, in a state where the first tweezers 20 is in the open state and the intermittent rotation pin 57 is in contact with the edge of the groove 55u of the first cam follower 55, the operator tilts the adjustment switch 203 to the left for a certain time to perform the first control. When the motor 31 is rotated reversely by θ ° through the section 100, the intermittent rotation pin 57 is in contact with the edge of the groove 55u of the first cam follower 55, and therefore the first cam follower 55 rotates in synchronization with the motor 31, The unit 70 and the rotating unit 80 also rotate. As shown by the alternate long and short dash line in FIG. 11, the first tweezers 20 is rotated by θ ° as a whole by the coupling portion 22 c by the transmission portion 70 and the edges 21 a and 22 a by the rotation portion 80. When the initial rotational position is adjusted, the positional relationship between the first cam follower 55 and the ball 53 does not change, so the translation distance does not change, and the first tweezers 20 rotate while maintaining the open state.
Therefore, the initial rotation position of the first tweezers 20 when gripping the component 2 can be set to a desired position. Thereby, since the initial rotation position of the 1st tweezers 20 can be adjusted according to the shape of the component 2 and the position where it was placed, the grip of the component 2 is facilitated.

<Adjustment of closing amount of electric tweezers>
In a state where the first tweezers 20 is in the open state and the intermittent rotation pin 57 is in contact with the edge of the groove 55u of the first cam follower 55, the operator tilts the adjustment switch 203 in the right direction for a certain period of time, and the first control unit 100 , The first cam follower 55 is pressed downward by the spring force of the compression spring 59, so that the ball 53 contacts the lower portion of the bottom surface of the first cam follower 55 from the upper portion. For this reason, as shown by the one-dot chain line in FIG. 12, the translation distance is shortened.
At this time, the intermittent rotation pin 57 slides in the groove 55u of the first cam follower 55. Therefore, the first cam follower 55 only translates and does not rotate.
On the other hand, the translational displacement of the first cam follower 55 is such that the coupling portion 22c of the first tweezers 20 is pulled by ΔL1 shorter than ΔL via the transmission portion 70, so that the first tweezers 20 is opened at a predetermined interval from the opening. Close with. Thereby, since the closing amount of the 1st tweezers 20 can be adjusted according to the shape, size material, etc. of the component 2, the grip of the component 2 can be made appropriate.

<Adjustment of rotational position when electric tweezers are closed>
When the first tweezers 20 is in the closed state and the intermittent rotation pin 57 is in contact with the edge of the groove 55u of the first cam follower 55, the operator tilts the adjustment switch 203 to the right for a predetermined time, When the motor 31 is rotated positively by β ° via 100, the intermittent rotation pin 57 is in contact with the edge of the groove 55 u of the first cam follower 55, and therefore the first cam follower 55 rotates in synchronization with the motor 31. 70 and the rotating unit 80 also rotate. As shown in FIG. 13, the first tweezers 20 is rotated β ° as a whole by the coupling portion 22 c by the transmission portion 70 and the edge portions 21 a and 22 a by the rotation portion 80. Thereby, since the rotation position in the closed state of the first tweezers 20 can be adjusted according to the position where the component 2 is opened, it becomes easy to adjust the position where the first tweezer 20 is opened and the component 2 is released. .

<Adjustment of opening amount of electric tweezers>
When the first tweezers 20 is in a closed state and the intermittent rotation pin 57 is in contact with the edge of the groove 55u of the first cam follower 55, when the operator tilts the adjustment switch 203 leftward for a certain time and rotates γ °, When the motor 31 is rotated reversely by γ ° via the first control unit 100, the intermittent rotation pin 57 rotates and slides in the groove 55u of the first cam follower 55. For this reason, the 1st tweezers 20 does not rotate as mentioned above.
On the other hand, the contact point between the ball 53 and the first cam follower 55 moves from the upper part to the lower part of the bottom surface. For this reason, as shown in the dashed-dotted line in FIG. And since the coupling | bond part 22c of the 1st tweezers 20 is not pulled at all, the 1st tweezers 20 open | releases predetermined amount. Thereby, since the opening amount of the 1st tweezers 20 of the electric tweezers 1 can be set according to the shape, size material, etc. of the components 2, the opening of the components 2 can be appropriately performed.

  The electric tweezers 1 of the above embodiment has a case 10, a V-shaped side composed of a substantially V-shaped first inner side 21h and a first outer side 21f, and a first inner side on the open side of the V-shaped side. A first gripping member 21 having an end portion of the side 21h and an open side end portion of the first outer side 21f of the V-shaped side, a second inner side 22h and a second outer side 22f substantially V-shaped; And a second gripping member 22 having an end of the second inner side 22h on the open side of the V-shaped side and an open side end of the second outer side 22f of the V-shaped side. And the end portions of the first and second inner sides 21h and 22h of the first and second gripping members 21 and 22 are pulled based on the translational movement, so that the first and second gripping members are more than the amount of translational movement. The displacement amount of the tip of the V-shaped side of 21 and 22 is expanded inward to have a gripping portion 20x for releasing and gripping the object. The first tweezers 20, the cam 51 incorporated in the case 10 and fixedly connected to the shaft of the motor 31, and the cam follower 55 that slides on the cam 51 are rotated. The cam 51 rotates in the first direction. Thus, a translation mechanism 50 is provided that translates the cam follower 55 and further rotates the cam follower 55 by rotating the cam 51 in the first direction.

  Furthermore, the electric tweezers 1 according to the above-described embodiment is built in the case 10 and connected and fixed to the cam follower 55, and the first and second inner sides 21h and 22h of the first and second gripping members 21 and 22 are opened. The transmission part 70 connected to the side end part and the case 10 are built in and connected and fixed to the cam follower 55, and the first and second outer sides 21f and 22f of the first and second gripping members 21 and 22 are opened. The rotating part 80 connected and fixed to the side end part and the closing / rotating switch 201 for operating and stopping the motor 31 are provided. When the closing / rotating switch 201 is operated, the motor 31 is rotated in the first direction. When the first tweezers 20 is closed from the open state and the close / rotate switch 201 is operated, the first control unit 100 rotates the motor 31 in the same direction as the first direction and rotates the first tweezers 20; An adjustment switch 203 that generates a rotation angle command signal of the motor 31 based on the operation amount of the cropping unit, and a first control unit 100 that adjusts the opening / closing amount and rotation amount of the first tweezers 20 based on the rotation angle signal. It is provided.

According to the electric tweezers 1, when the operator operates the close / rotate switch 201, the first control unit 100 rotates the motor 31 in the normal direction, and the total length of the first cam 51 and the first cam follower 55 is shortened. When the tweezers 20 is closed from the open state, and the close / rotate switch 201 is operated to rotate the motor 31 in the forward direction, the first cam follower 55 is rotated by the rotation of the first cam 51 while maintaining the full length. Thus, the transmission unit 70 and the rotation unit 80 are rotated. Thereby, both the edge parts 21a and 22a of the 1st tweezers 20 can be rotated in the closed state of the 1st tweezers 20.
Accordingly, the operator can rotate the grip 20x of the first tweezers 20 in a closed state while holding the electric tweezers 1. For this reason, since the 1st tweezers 20 is rotated while holding the component 2 with the first tweezers 20, the posture of the component 2 can be easily changed. For this reason, this electric tweezers 1 makes it easy to place a component 2 having directionality, for example, front and back, on the tray.

  Furthermore, it is preferable that the electric tweezers 1 include an opening switch 202 that operates and stops the motor 31. When the first tweezers 20 are closed and the release switch 202 is operated, when the first control unit 100 rotates the motor 31 in the reverse direction, the first tweezers 20 is released from the closed state. Accordingly, the component 2 can be released by releasing the first tweezers 20 after changing the posture of the component 2 while rotating the component 2 while holding the component 2 with the first tweezers 20.

The electric tweezers 1 includes a closing / rotating switch 201 and an opening switch 202, and an operator closes the first tweezers 20 from opening by the operation of the closing / rotating switch 201, and the operation of the opening switch 202 Since the first tweezers 20 is rotated while the first tweezers 20 are closed, and the first tweezers 20 are released from the closed state, the first tweezers 20 is released from the closed state. Since the tweezers 20 are closed and rotated and released from the closing, it becomes easy for an operator to issue an operation command for opening and closing the first tweezers 20.
In addition, a switch with one closing / rotation switch 201 and an opening switch 202 is provided, and based on the operation of this switch, the first tweezers 20 is closed from the open state, rotated in the closed state, and closed. You may release from the beginning.

  Furthermore, when the electric tweezers 1 are operated in the open state with the first tweezers 20 and the adjustment switch 203 is operated and the motor 31 is rotated reversely by θ ° via the first control unit 100, the first tweezers 20 is entirely rotated by θ ° Rotate. Therefore, the initial rotation position of the first tweezers 20 when gripping the component 2 can be set to a desired position. Thereby, since the initial rotation position of the 1st tweezers 20 can be adjusted according to the shape of the component 2 and the position where it was placed, the grip of the component 2 is facilitated.

  Further, when the adjustment switch 203 is operated with the first tweezers 20 opened and the motor 31 is rotated forward by α ° via the first control unit 100, the first tweezers 20 is closed with a predetermined interval from the opened. To do. Thereby, since the closing amount of the 1st tweezers 20 can be adjusted, the holding | grip of the components 2 can be performed appropriately.

  Further, when the adjustment switch 203 is operated with the first tweezers 20 in the closed state and the motor 31 is rotated forward by β ° via the first control unit 100, the first tweezers 20 rotates in the closed state. Thereby, it becomes easy to adjust the position where the first tweezers 20 is opened to release the component 2.

  Further, when the adjustment switch 203 is operated with the first tweezers 20 closed, and the motor 31 is rotated reversely by γ ° via the first control unit 100, the first tweezers 20 is released by a predetermined amount. Thereby, since the opening amount of the 1st tweezers 20 can be set according to the shape, size material, etc. of the component 2, the grip of the component 2 can be made appropriate.

In addition, an encoder 35 that detects the rotation angle of the motor 31 and outputs a rotation angle detection signal is provided. The first control unit 100 rotates in advance based on the operation of the closing / rotating switch 201 and the opening switch 202. It is preferable to control the motor 31 so that the rotation angle detection signal matches the angle command signal. Thereby, since the motor 31 can be stopped at a desired rotation angle value, for example, the opening amount, the rotation angle, and the closing amount of the first tweezers 20 can be easily positioned.
It should be noted that a pulse motor may be used as the motor 31 so that the encoder 35 is unnecessary. This is because a pulse motor can accurately control the motor based on the rotation command signal.
The first control unit 100 of the electric tweezers 1 is preferably built in the case 10. This is because the operation of the electric tweezers 1 is simplified.

Embodiment 2. FIG.
Another embodiment of the present invention will be described with reference to FIGS. FIG. 17 is an overall view of an electric tweezers showing another embodiment of the present invention, and FIG. 18 is a block diagram of the motor control relation of the electric tweezers shown in FIG.
17 and 18, in the second switch box 300, the closing switch 301 as the first switch means for generating an operation signal for closing the first tweezers 20 from the open state, and the first tweezers 20 are closed. Rotation / release switch 303 as a second switch means for generating an operation signal for rotating the first tweezers 20 from the closed state and a rotation angle signal for the motor 31 based on the operation amount of the operation unit At the same time, a first adjustment switch 305 as input means for adjusting the rotation angle of the first tweezers 20 and a rotation angle command signal for the motor 31 are generated based on the operation amount of the operation unit, and the first tweezers 20 are opened. And a second adjustment switch 307 as input means for adjusting the closing amount.
The switch means each of the closing switch 301 and the rotation / opening switch 303. The first adjustment switch 305 uses a joystick type, and the second adjustment switch 307 uses a slide type potentiometer.

  According to the electric tweezers configured in this manner, as in the first embodiment, when the closing switch 301 is operated, the first tweezers 20 is closed from the open state via the first control unit 100, and the rotation / When the release switch 303 is operated, the first tweezers 20 is rotated via the first control unit 100, and further, the first tweezers 20 is opened from the closed state via the first control unit 100 by the operation of the rotation / release switch 303. To do.

Further, in order to adjust the initial rotational position of the electric tweezers, when the operator depresses the first adjustment switch 305 leftward for a certain period of time while the tweezers 20 is in an open state, the motor 31 is moved through the first control unit 100 to θ. Reversely rotate the tweezers 20 by θ °. Therefore, the initial rotational position can be adjusted with the first tweezers 20 open.
Further, in order to adjust the rotational position of the first tweezers 20 in the closed state, the first tweezers 20 is in the closed state, and the operator tilts the first adjustment switch 305 in the right direction for a certain period of time. When the motor 31 is rotated positively by β ° through 100, the first tweezers 20 rotates in the closed state. Thereby, it becomes easy to adjust the position where the first tweezers 20 is opened to release the component 2.

  The electric tweezers are divided into a first adjustment switch 305 that adjusts the rotation angle when the first tweezers 20 is open and closed, and a second adjustment switch 307 that adjusts the opening / closing amount of the first tweezers 20. It becomes easy to generate an operation command for adjusting the opening / closing amount of the first tweezers 20.

Embodiment 3 FIG.
In another embodiment of the present invention, a second tweezers 220 having a simple configuration will be described with reference to FIGS. 19 and 20 instead of the first tweezers 20 of the first embodiment. FIG. 19 is a perspective view of a second tweezers according to another embodiment of the present invention, and FIG. 20 is a perspective view of a tweezers unit in which the second tweezers are incorporated in a turntable.
19, the same reference numerals as those in FIG. 4 denote the same parts, and a description thereof is omitted.
<Configuration of second tweezers>
In FIG. 19, the second tweezers 220 is formed in a substantially inverted V shape with a beam shape, and is opposed to the first gripping member 21 sharing the distal end portion and the first gripping member 21, and is substantially L which is difficult to bend. And an opposing member 230 having a shape. The first gripping member 21 has an inner fixing portion 21x that extends from the open end of the first inner side 21h and is provided substantially horizontally. A hole 21e is provided in the inner fixing portion 21x. Yes. The second transmission unit 70 is fixedly connected to the cam follower 55 and is fixed to the inner fixing portion 21x of the first inner side 21h of the first gripping member 21.
The facing member 230 has a side portion 232f having a tip portion as a straight other end portion, and a fixing portion 232a as one end portion extended from the side portion 232f, and is opposed to the side portion 232f. The front end of each of them is a gripping part 232x.
The grip 20x of the second tweezers 220 is formed so as to grip a component or the like by the grip 232x of the opposing member 230 and the grip 21x of the first grip member 21.

  As shown in FIG. 19, the second tweezers 220 engages and fixes the edge 21 a of the first gripping member 21 to the notch 88 a of the turntable 88, and similarly, the counter member is attached to the notch 88 a of the turntable 88. The edge 232a of 230 is also engaged and fixed to form a tweezers unit. Accordingly, the second rotating portion 80 is connected and fixed to the cam follower 55 and is connected and fixed to the open side end portion of the first outer side 21 f of the first gripping member 21.

In addition, by using the first switch box 200 or the second switch box 300 shown in the first and second embodiments, the electric tweezers 1 using the second tweezers 220 can be used for the first tweezers 220. The same effect as the electric tweezers 1 using only the gripping member 21 is obtained.
Accordingly, the second tweezers 220 can use the opposing member 230 instead of the second gripping member 22, so that the configuration of the tweezers 220 is simplified.
In the above embodiment, the edge portion 232a of the facing member 230 is fixed to the rotating portion 80, but may be fixed to the first fixing member 74 of the transmission portion 70, for example.

Embodiment 4.
In another embodiment of the present invention, a simple conversion mechanism will be described with reference to FIGS. 21 and 22 instead of the conversion mechanism of the first embodiment. 21 is a left side view (a), a front view (b), a right side view (c), and FIG. 22 of the tweezers cam assembly of the tweezers showing another embodiment. It is a block diagram. In FIG. 22, the same reference numerals as those in FIG.
The second conversion mechanism 250 includes a second cam 251 and a second cam follower 255. The second cam 251 includes a columnar portion having a first surface, and a column portion 251t as a fan-shaped protrusion in a plan view while projecting from the first surface of the columnar portion. Yes. The third cam follower 255 has a two-stage columnar shape, and includes a first column 255b and a second semicylinder 255c that is thicker than the first column 255b. have. The column portion of the second cam 251 is provided with a hemispherical groove 251u, and a sphere 53 is placed in the groove 251u. The second cam follower 255 has a hole 255e for inserting and fixing the tweezer side rotation pin 84. And a cylindrical recess 255a for fixing the first magnetic member 72. The second semi-cylindrical 255c has a side surface that contacts the side surface of the column portion of the second cam 251, and a sphere 53. It has the inclined surface 255s which slides.

In FIG. 2, when the operator presses the close / rotate switch 201 once, the second controller 120 rotates the motor 31 in the first direction by 90 ° in the first direction to close the first tweezers 20 from the open state. When the rotation detection angle of the encoder 35 reaches 90 °, the motor 31 is stopped. Next, the operator pushes the close / rotate switch 201 one by one to rotate the motor 31 in the first direction 180 ° as the second angle to rotate the first tweezers 20, and the rotation detection angle of the encoder 35 is 180 °. The motor 31 is formed so as to stop when reaching.
Further, when the operator depresses the release switch 203 for a while, the second control unit 120 rotates the motor 31 in the reverse direction of 90 ° as the first angle to release the first tweezers 20 from the closed position. When the rotation detection angle of 35 reaches 90 °, the motor 31 is stopped, and then the release switch 203 is pressed once to reversely rotate the motor 31 in the second direction of 180 ° as the second angle to rotate the first tweezers 20 initially. In addition to returning to the position, the motor 31 is stopped when the rotation detection angle of the encoder 35 reaches 180 °.

The operation of rotating the electric tweezers having the conversion mechanism configured as described above in the gripping state will be described with reference to FIGS.
When the motor 31 is further rotated forward 180 ° in the closed state of the first tweezers 20, the column portion 251t of the second cam 251 is in contact with the side surface 255f of the half column of the second cam follower 255. The second cam follower 255 rotates in synchronization with the motor 31. Similarly to the first embodiment, the first tweezers 20 also rotates 180 ° while the first tweezers 20 maintains the closed state.
According to the second conversion mechanism 250 as described above, the intermittent rotation pin 57 is not necessary, and the configuration of the conversion mechanism is simplified.

  The present invention is not limited to the description of the embodiment of the invention described above. Various modifications are also included in the present invention as long as those skilled in the art can easily conceive without departing from the scope of the claims.

  The present invention can be applied to electric tweezers.

DESCRIPTION OF SYMBOLS 1 Electric tweezers, 20,220 Tweezers, 21 1st holding member, 22 2nd holding member, 21a, 22a Edge, 22c Connection part, 31 Motor, 33 Switch, 35 Encoder, 50,250 Conversion mechanism, 51,251 Cam 55, 255 Cam follower, 70 transmission unit, 80 rotation unit, 82 rotation table (rotation member), 84 rotation transmission pin (pin member), 100, 120 control unit.

Claims (10)

Case and
A V-shaped side having a substantially V-shaped first inner side and a first outer side; an end of the first inner side on the open side of the V-shaped side; A first gripping member having an open side end on the outer side;
A V-shaped side composed of a substantially V-shaped second inner side and a second outer side; an end of the second inner side on the open side of the V-shaped side; A second gripping member having an open side end of the outer side;
By pulling the end portions of the first and second inner sides of the first and second gripping members based on the translational movement, the V-shaped side of the first and second gripping members is more than the amount of the translational movement. A first tweezers having a gripping portion for releasing and gripping an object with a displacement amount of the tip expanding inward;
A cam built in the case and connected and fixed to the shaft of the motor; and a cam follower that slides on the cam; the cam follower is moved in translation by rotating the cam in a first direction; and A conversion mechanism for rotating the cam follower by rotating the cam in the first direction;
Built in the case, connected and fixed to the cam follower, and connected to the open end of the first inner side of the first gripping member and the open end of the second inner side of the second gripping member. A first transmission unit;
Built in the case, connected and fixed to the cam follower, and connected and fixed to the open side end of the first outer side of the first gripping member and the open side end of the second outer side of the second gripping member. A first rotating part,
Switch means for operating and stopping the motor;
When the switch means is operated, the motor is rotated in the first direction to close the first tweezers from being opened, and when the switch means is operated, the motor is rotated in the same direction as the first direction, First control means for rotating the first tweezers;
Input means for generating a rotation angle command signal of the motor based on an operation amount of the operation unit;
Second control means for adjusting at least one of an opening amount, a closing amount, and a rotation amount of the first tweezers based on the rotation angle signal;
Electric tweezers characterized by comprising Instead of the second gripping member, facing the first gripping member, and an opposing member having one end and the other end for gripping an object by the first inner side of the first gripping member;
By pulling the end portion of the first inner side of the first gripping member based on the translational movement, the amount of displacement of the tip of the V-shaped side of the first gripping member is expanded inward than the amount of the translational movement. A second tweezers having a gripping part for releasing and gripping an object together with the opposing member;
Instead of the first transmission part, a second transmission part built in the case, connected and fixed to the cam follower, and connected to the open end of the first inner side of the first gripping member;
In place of the first rotating part, the second rotating part is built in the case, connected and fixed to the cam follower, and connected and fixed to the open end of the first outer side of the first gripping member. ,
One end portion of the facing member is connected and fixed to the transmitting portion or the rotating portion.
The electric tweezers according to claim 1. The first control means further rotates the motor in a second direction opposite to the first direction with the first or second tweezers closed based on the operation of the switch means. Or release the second tweezers from closing,
The electric tweezers according to claim 1 or 2. Rotation angle detection means for detecting a rotation angle of the motor and outputting a rotation angle detection signal is provided. The control means is configured to add the rotation angle detection signal to a rotation angle command signal predetermined based on the operation of the switch means. Control the motor to match,
The electric tweezers according to any one of claims 1 to 3, wherein The switch means includes first switch means and second switch means,
The first control means rotates the motor in a first direction based on an operation of the first switch means to close the first or second tweezers from an open state, and further operates the first switch means. The first or second tweezers in the closed state by rotating the motor in the first direction based on
The first control means rotates the motor in a second direction opposite to the first direction based on the operation of the second switch means to open the first or second tweezers from closed.
The electric tweezers according to any one of claims 1 to 4, wherein The switch means includes first switch means and second switch means,
The first control means rotates the motor in a first direction based on the operation of the first switch means to close the first or second tweezers from being opened,
The first control means rotates the motor in a first direction based on the operation of the second switch means to rotate the first or second tweezers in a closed state, and further, the second switch means Based on the operation, the motor is rotated in a second direction opposite to the first direction to release the first or second tweezers from closing.
The electric tweezers according to any one of claims 1 to 4, wherein A third switch means for returning the motor to a predetermined rotation origin position;
The encoder generates an origin position detection signal when the motor reaches the rotation origin position,
The control means generates the origin position command signal based on the operation of the third switch means and opens or closes the tweezers, and sends the motor to the origin position detection signal based on the origin position command signal. Rotate in a certain direction and stop until
The electric tweezers according to claim 1, wherein: The transmission unit includes a first member connected to the coupling unit of the first or second tweezers,
The first member is fixed to a central upper portion of the cam follower that is on the opposite side of the surface in contact with the cam.
The electric tweezers according to any one of claims 1 to 7, wherein The rotating portion includes a pin member that transmits rotation of the cam follower;
A rotary member that is loosely inserted into the cam follower, rotates with the rotation of the pin member, and is connected and fixed to the other end of the first or second tweezers;
The electric tweezers according to any one of claims 1 to 8, further comprising: In the conversion mechanism, the cam is provided with a first surface, a protrusion having a protrusion with respect to the first surface, and a hemispherical first groove on the protrusion.
A ball member which is placed in the first groove and slides;
The cam follower has a side surface that comes into contact with the side surface of the protrusion and an inclined surface that slides the ball member.
The electric tweezers according to any one of 1 to 9, characterized in that.

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