JP2011194523A - Motor-driven hand - Google Patents

Motor-driven hand Download PDF

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JP2011194523A
JP2011194523A JP2010064307A JP2010064307A JP2011194523A JP 2011194523 A JP2011194523 A JP 2011194523A JP 2010064307 A JP2010064307 A JP 2010064307A JP 2010064307 A JP2010064307 A JP 2010064307A JP 2011194523 A JP2011194523 A JP 2011194523A
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gripping
members
linear motion
displacement amount
elastic member
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JP5815923B2 (en
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Takashi Ueda
剛史 上田
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Denso Wave Inc
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Denso Wave Inc
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Abstract

PROBLEM TO BE SOLVED: To provide a motor-driven hand, capable of gripping an object to be gripped by movement of either a closing or an opening direction of a pair of gripping members while avoiding enlargement of the hand itself, and capable of striking a balance between the gripping flexibility and the accurate gripping force detection without losing the gripping force during electric failure.SOLUTION: The motor-driven hand has an elastic member 50 sandwiched between a linear motion member 3 that moves along a rotation shaft 2 and a connection member 28 that is connected to the gripping member. The elastic member 50 is compressed when the linear motion member 3 and the connection member 28 approach each other, at the same time it is expanded when the linear motion member 3 and the connection member 28 are separated from each other. The elastic member 50 is disposed between the linear motion member 3 and the connection member 28, thereby part of the force applied to the object to be gripped by the gripping members is absorbed by the deformation of the elastic member 50. Accordingly, the object to be gripped can be gripped flexibly even when it is easily breakable.

Description

本発明は、モータにより一対の把持部材を開閉動作させて把持対象物を把持する構成の電動ハンドに関する。   The present invention relates to an electric hand configured to open and close a pair of gripping members with a motor to grip a gripping target.

モータにより一対の把持部材を開閉動作させる構成の電動ハンドとしては、特許文献１に開示されたものがある。これは、ステッピングモータと、このステッピングモータの出力軸に直結され先端にねじ部を有した回転軸と、この回転軸に螺挿されるねじを備えた直動部材と、前記一対の把持部材に開閉動作を行わせる開閉機構と、前記直動部材の駆動力を開閉機構に伝動する伝動軸とを有しており、前記伝動軸は、直動部材に対して一定距離だけ移動可能で、把持部材に対して把持動作を行わせる方向にばねで付勢されて直動部材に組み付けられて、把持部材が把持対象物を把持するときは、上記ばねを介して把持する、というものである。   As an electric hand configured to open and close a pair of gripping members by a motor, there is one disclosed in Patent Document 1. This includes a stepping motor, a rotary shaft directly connected to the output shaft of the stepping motor and having a threaded portion at the tip, a linear motion member having a screw screwed into the rotary shaft, and the pair of gripping members. An opening / closing mechanism for performing the operation, and a transmission shaft for transmitting the driving force of the linear motion member to the opening / closing mechanism, the transmission shaft being movable by a certain distance with respect to the linear motion member; When the gripping member grips an object to be gripped by being biased by a spring in the direction in which the gripping operation is performed and assembled to the linear motion member, the gripping object is gripped via the spring.

特開２００１−１１３４８６号公報JP 2001-113486 A

電動ハンドは、各種部品を把持して搬送するなどのために広く用いられている。この電動ハンドでは、停電時に把持力が無くなることが欠点として挙げられるが、特許文献１の電動ハンドでは、把持部材により把持対象物を把持する際、ばねのばね力で把持対象物を把持する状態になるので、停電した場合にも、把持力を保持できる。
しかしながら、ロボットのアームの先端に取り付けて使用する場合には、小形の電動ハンドであることが望まれるが、特許文献１の電動ハンドは、ねじ部を有した回転軸がステッピングモータの出力軸に直結されているので、電動ハンド全体としての長さが回転軸の軸方向に長くなり、大型になり勝ちである。 Electric hands are widely used for gripping and transporting various components. In this electric hand, the gripping force disappears at the time of a power failure. However, in the electric hand of Patent Document 1, when the gripping object is gripped by the gripping member, the gripping object is gripped by the spring force of the spring. Therefore, even when a power failure occurs, the gripping force can be maintained.
However, when used by attaching to the tip of a robot arm, a small electric hand is desired. However, in the electric hand of Patent Document 1, the rotating shaft having a screw portion is used as the output shaft of the stepping motor. Since it is directly connected, the length of the electric hand as a whole becomes longer in the axial direction of the rotary shaft, which tends to increase in size.

また、特許文献１の電動ハンドでは、一対の把持部材が閉じ方向に移動する場合に把持対象物を把持するようになっているが、把持対象物によっては、例えば把持対象物が有する穴の中に一対の把持部材を挿入して開き方向に移動させることにより当該把持対象物を把持することが好ましい場合もある。しかしながら、開き方向での把持では、ばねの付勢力が把持力として作用せず、停電した場合に、螺合しているねじ同士のがたによって把持力が失われてしまう。
さらに、破損が生じやすい把持対象物の場合、電動ハンドには適度な柔軟性が要求される。一方、柔軟性を有する電動ハンドの場合、一対の把持部材の移動量の正確な把握が困難となる。そのため、把持対象物が破損しやすい場合、把持の柔軟性と把持力の正確な検出とを両立させる必要がある。 Further, in the electric hand of Patent Document 1, the gripping target is gripped when the pair of gripping members move in the closing direction, but depending on the gripping target, for example, in the hole of the gripping target In some cases, it is preferable to grip the object to be gripped by inserting a pair of gripping members and moving them in the opening direction. However, in the gripping in the opening direction, the biasing force of the spring does not act as the gripping force, and in the event of a power failure, the gripping force is lost due to the backlash of the screws that are screwed together.
Furthermore, in the case of an object to be grasped that is easily damaged, the electric hand is required to have appropriate flexibility. On the other hand, in the case of an electric hand having flexibility, it is difficult to accurately grasp the movement amount of the pair of gripping members. Therefore, when the gripping object is easily damaged, it is necessary to achieve both gripping flexibility and accurate detection of the gripping force.

本発明は上記の事情に鑑みてなされたもので、その目的は、大型化を避けつつ、一対の把持部材の閉じ方向および開き方向のいずれの移動でも把持対象物が把持され、且つ、停電時にも把持力を失うことがなく、把持の柔軟性と把持力の正確な検出とを両立する電動ハンドを提供することにある。   The present invention has been made in view of the above circumstances, and its purpose is to avoid the increase in size, and to grasp the object to be grasped by any movement in the closing direction and the opening direction of the pair of grasping members, and at the time of power failure It is another object of the present invention to provide an electric hand that does not lose the gripping force and achieves both gripping flexibility and accurate detection of the gripping force.

本発明では、モータと回転軸とが並列配置となっているので、電動ハンド全体として長尺とならず、小型に構成できる。また、一対の直動部材の移動は一対の把持部材に伝えられるが、一対の直動部材の各々の移動を伝える相手を変更することにより、一対の把持部材の閉じ方向の移動で把持対象物を把持することも、開き方向の移動で把持対象物を把持することもでき、しかも、いずれの方向で把持しても、ばね部材の付勢力を把持力として作用させることができる。   In the present invention, since the motor and the rotating shaft are arranged in parallel, the entire electric hand is not long and can be configured in a small size. In addition, the movement of the pair of linear motion members is transmitted to the pair of gripping members, but the object to be gripped is moved by the movement of the pair of gripping members in the closing direction by changing the partner that transmits the movement of each of the pair of linear motion members. The gripping object can be gripped by moving in the opening direction, and the biasing force of the spring member can be applied as the gripping force regardless of which direction is gripped.

また、本発明では、回転軸に沿って移動する直動部材と把持部材に連結される連結手段との間に弾性部材を備えている。弾性部材は、直動部材と連結手段とが接近するとき圧縮され、直動部材と連結手段とが離間するとき伸長する。このように、直動部材と連結手段との間に弾性部材を設けることにより、把持部材から把持対象物へ加わる力の一部は弾性部材の変形によって吸収される。したがって、把持対象物が破損しやすい場合でも、把持対象物を柔軟に把持することができる。   Moreover, in this invention, the elastic member is provided between the linearly moving member which moves along a rotating shaft, and the connection means connected with a holding member. The elastic member is compressed when the linear motion member and the connecting means approach each other, and expands when the linear motion member and the connecting means are separated from each other. In this way, by providing the elastic member between the linear motion member and the connecting means, a part of the force applied from the gripping member to the gripping object is absorbed by the deformation of the elastic member. Therefore, even when the gripping object is easily damaged, the gripping object can be gripped flexibly.

さらに、本発明では、直動部材と連結手段との間の相対的な移動距離を検出する変位量センサを備えている。把持部材の把持力は、弾性部材の変位に相関する。すなわち、把持部材の把持力は、直動部材と連結手段との間に挟み込まれる弾性部材に加わる力と一致する。そのため、把持力は、弾性部材の変位量を検出することにより、弾性部材のばね定数に基づいて算出される。この弾性部材の変位は、変位量センサで検出した直動部材と連結手段との相対的な移動距離に基づいて取得される。したがって、直動部材と連結手段との間に弾性部材を挟み込むことにより把持対象物の柔軟な把持を図りつつ、把持対象物に加わる把持力を正確に検出することができる。   Furthermore, in the present invention, a displacement amount sensor that detects a relative movement distance between the linear motion member and the connecting means is provided. The gripping force of the gripping member is correlated with the displacement of the elastic member. That is, the gripping force of the gripping member coincides with the force applied to the elastic member that is sandwiched between the linear motion member and the connecting means. Therefore, the gripping force is calculated based on the spring constant of the elastic member by detecting the displacement amount of the elastic member. The displacement of the elastic member is acquired based on the relative movement distance between the linear motion member and the connecting means detected by the displacement amount sensor. Therefore, the gripping force applied to the gripping object can be accurately detected while the gripping object is flexibly gripped by sandwiching the elastic member between the linear motion member and the connecting means.

本発明の一実施形態による電動ハンドにおいて閉じ方向で把持する場合を示す図であり、（ａ）は断面図、（ｂ）は（ａ）のア−ア線に沿う断面図It is a figure which shows the case where it hold | grips in the closing direction in the electric hand by one Embodiment of this invention, (a) is sectional drawing, (b) is sectional drawing which follows the AA line of (a). 本発明の一実施形態による電動ハンドにおいて開き方向で把持する場合を示す図であり、（ａ）は断面図、（ｂ）は（ａ）のイ−イ線に沿う断面図It is a figure which shows the case where it hold | grips in an opening direction in the electric hand by one Embodiment of this invention, (a) is sectional drawing, (b) is sectional drawing which follows the II line of (a). 図１の要部を拡大した断面図1 is an enlarged cross-sectional view of the main part of FIG. 本発明の一実施形態による電動ハンドを示すブロック図The block diagram which shows the electric hand by one Embodiment of this invention 本発明の一実施形態による電動ハンドの制御の流れを示す概略図Schematic which shows the flow of control of the electric hand by one Embodiment of this invention. 本発明の一実施形態による電動ハンドの制御の流れを示す概略図Schematic which shows the flow of control of the electric hand by one Embodiment of this invention.

以下、本発明の一実施形態をロボットのアーム先端に取り付けられる電動ハンドに適用して図面を参照しながら説明する。なお、本実施形態でいうロボットとは、直角座標型ロボット、垂直多関節型ロボット、水平多関節型ロボットのほか、１本のレールに移動体を往復移動可能に設け、この移動体に直動軸（アーム）を移動体の移動方向と直交する方向に移動可能に設けた構成のものも含むとする。   Hereinafter, an embodiment of the present invention will be described with reference to the drawings by applying it to an electric hand attached to the tip of a robot arm. The robot referred to in this embodiment is a Cartesian robot, vertical articulated robot, horizontal articulated robot, and a movable body provided on one rail so as to be able to reciprocate. It is assumed that a configuration in which a shaft (arm) is provided so as to be movable in a direction orthogonal to the moving direction of the moving body is also included.

図１には、電動ハンドの全体が示されている。この電動ハンドは、例えばサーボモータ１を電動駆動源とし、このサーボモータ１の回転を１本の回転軸２に伝え、この回転軸２の回転運動を変換手段によって一対の直動部材３，４の直線運動に変換する。つまり、回転軸２が一方向に回転する場合には、一対の直動部材３，４が互いに接近する方向に直線移動し、回転軸２が上記一方向とは逆の他方向に回転する場合には、一対の直動部材３，４が互いに離間する方向に直線移動するように構成し、そして、この一対の直動部材３，４の移動によって一対の把持部材を開閉させようとするものである。   FIG. 1 shows the entire electric hand. This electric hand uses, for example, a servo motor 1 as an electric drive source, transmits the rotation of the servo motor 1 to a single rotary shaft 2, and the rotational movement of the rotary shaft 2 is converted into a pair of linear motion members 3, 4 by conversion means. Convert to linear motion. That is, when the rotating shaft 2 rotates in one direction, the pair of linear motion members 3 and 4 linearly move in a direction approaching each other, and the rotating shaft 2 rotates in the other direction opposite to the one direction. The pair of linear motion members 3 and 4 are configured to move linearly in directions away from each other, and the pair of linear motion members 3 and 4 are intended to open and close the pair of gripping members. It is.

本実施形態の電動ハンドの第１の特徴は、一対の把持部材の閉じ方向（接近方向）の移動によって把持対象物を把持できると共に、一対の把持部材の開き方向（離間方向）の移動によっても把持対象物を把持できることにある。第２の特徴は、一対の直動部材３，４の互いに接近する方向と互いに離間する方向のうちの一方、例えば互いに接近する方向に一対の直動部材３，４を付勢するばね部材が設けられていること、そして、第３の特徴は、上記ばね部材によって付勢された方向に一対の直動部材３，４が移動するとき、一対の直動部材３，４と一対の把持部材との連結の仕方によって一対の把持部材を閉じ方向にも、開き方向にも移動させることができ、一対の把持部材の閉じ方向の移動によって把持対象物を把持した場合でも、一対の把持部材の開き方向の移動によって把持対象物を把持した場合でも、ばね部材のばね力を把持力として効かすことができることである。さらに、第４の特徴は、一対の直動部材３，４と把持部材に連結している連結部材との間には弾性部材が設けられており、この弾性部材の変位量が直動部材３，４と連結部材との間の相対的な移動距離として変位量センサで検出される。そのため、把持部材から把持対象物へ加わる力の一部は弾性部材の変形によって吸収されるので、把持対象物が破損しやすい場合でも、把持対象物を柔軟に把持することができる。また、把持部材の把持力は、直動部材と連結手段との間に挟み込まれる弾性部材に加わる力と一致する。そのため、把持力は、変位量センサで弾性部材の変位量を検出することにより、弾性部材のばね定数に基づいて算出される。したがって、直動部材と連結手段との間に弾性部材を挟み込むことにより把持対象物の柔軟な把持を図りつつ、把持対象物に加わる把持力を正確に検出することができる。   The first feature of the electric hand according to the present embodiment is that the object to be grasped can be grasped by movement in the closing direction (approach direction) of the pair of gripping members, and the opening direction (separation direction) of the pair of gripping members can be The gripping object can be gripped. The second feature is that the spring member that biases the pair of linear motion members 3 and 4 in one of the direction in which the pair of linear motion members 3 and 4 approach each other and the direction in which the pair of linear motion members 3 and 4 approach each other, for example, in the direction in which they approach each other. The third feature is that when the pair of linear motion members 3 and 4 move in the direction urged by the spring member, the pair of linear motion members 3 and 4 and the pair of gripping members The pair of gripping members can be moved both in the closing direction and in the opening direction depending on how they are connected to each other. Even when the gripping object is gripped by the movement of the pair of gripping members in the closing direction, the pair of gripping members Even when the object to be grasped is grasped by movement in the opening direction, the spring force of the spring member can be applied as the grasping force. Further, the fourth feature is that an elastic member is provided between the pair of linear motion members 3 and 4 and the coupling member coupled to the gripping member, and the displacement amount of the elastic member is the linear motion member 3. , 4 and the connecting member are detected by a displacement sensor as a relative moving distance. Therefore, a part of the force applied from the gripping member to the gripping object is absorbed by the deformation of the elastic member, so that even when the gripping object is easily damaged, the gripping object can be gripped flexibly. Further, the gripping force of the gripping member matches the force applied to the elastic member sandwiched between the linear motion member and the connecting means. Therefore, the gripping force is calculated based on the spring constant of the elastic member by detecting the displacement amount of the elastic member with the displacement amount sensor. Therefore, the gripping force applied to the gripping object can be accurately detected while the gripping object is flexibly gripped by sandwiching the elastic member between the linear motion member and the connecting means.

なお、一対の把持部材の開き方向の移動によって把持対象物を把持する事例としては、把持対象物に例えば穴が形成されていて一対の把持部材をその穴内に挿入して開き方向に移動させることで一対の把持部材を穴の内周面の互いに反対側に押し当てて把持することが考えられる。その他、把持対象物に一対の凸部が存在する場合に、一対の把持部材を一対の凸部の間に差し入れて開き方向に移動させることによって把持する場合など種々考えられる。一対の把持部材としては、閉じ方向で把持する場合と開き方向で把持する場合とを兼用するものであっても良いし、異なるものを用いても良い。   As an example of gripping the gripping object by moving the pair of gripping members in the opening direction, for example, a hole is formed in the gripping object, and the pair of gripping members are inserted into the holes and moved in the opening direction. Thus, it is conceivable to hold the pair of gripping members by pressing them against opposite sides of the inner peripheral surface of the hole. In addition, when there are a pair of convex portions on the object to be gripped, various cases are conceivable, such as gripping by inserting a pair of gripping members between the pair of convex portions and moving them in the opening direction. The pair of gripping members may be used both when gripping in the closing direction and when gripping in the opening direction, or may be different.

さて、サーボモータ１は、出力軸９の回転位置を検出するためのロータリエンコーダ（回転センサ）１０を備え、電動ハンドの四角い箱型の本体１１内に取り付けられている。後述する制御部は、ロータリエンコーダ１０から出力される回転位置検出信号をフィードバック信号としてサーボモータ１を制御する。
前記回転軸２は、本体１１内にサーボモータ１の出力軸９と平行となるように配設され、両端部が軸受１２によって回転可能に支持されている。この回転軸２とサーボモータ１の出力軸９は、共に一端部が本体１１の側面から外方に突出しており、その回転軸２と出力軸９の一端部間は伝動機構、例えばベルト伝動機構１３により連結されている。つまり、回転軸２と出力軸９の一端部には、それぞれ歯付きプーリー１４，１５が取着されている。そして、両歯付きプーリー１４，１５間に歯付きベルト１６が掛け渡されている。したがって、サーボモータ１が起動すると、その出力軸９の回転がベルト伝動機構１３によって回転軸２に伝達される。なお、ベルト伝動機構１３は、本体１１に取り付けられたカバー１７によって覆い隠されている。 The servo motor 1 includes a rotary encoder (rotation sensor) 10 for detecting the rotational position of the output shaft 9 and is mounted in a rectangular box-shaped main body 11 of the electric hand. A control unit to be described later controls the servo motor 1 using a rotational position detection signal output from the rotary encoder 10 as a feedback signal.
The rotating shaft 2 is disposed in the main body 11 so as to be parallel to the output shaft 9 of the servo motor 1, and both ends thereof are rotatably supported by bearings 12. The rotary shaft 2 and the output shaft 9 of the servomotor 1 both have one end projecting outward from the side surface of the main body 11, and a transmission mechanism such as a belt transmission mechanism is provided between the rotary shaft 2 and one end of the output shaft 9. 13 are connected. That is, toothed pulleys 14 and 15 are attached to one end portions of the rotary shaft 2 and the output shaft 9, respectively. And the toothed belt 16 is spanned between the pulleys 14 and 15 with both teeth. Therefore, when the servo motor 1 is activated, the rotation of the output shaft 9 is transmitted to the rotating shaft 2 by the belt transmission mechanism 13. The belt transmission mechanism 13 is covered with a cover 17 attached to the main body 11.

回転軸２には、変換手段としての右ねじ１８と左ねじ１９が形成されている。そして、この回転軸２の右ねじ１８と左ねじ１９には、それぞれ内側に右ねじ１８と左ねじ１９に螺合する直動部材（ボールナット）３，４が取り付けられている。したがって、回転軸２が回転すると、両直動部材３，４は互いに反対方向に直線移動する。
直動部材３，４は、互いに対向する端部側に径大部３ａ，４ａを有している。そして、直動部材３，４には、ばね部材としての圧縮コイルばね２０，２１が巻装されており、直動部材３側の圧縮コイルばね２０は、両端を径大部３ａおよび一方の軸受１２に押し当て、直動部材４側の圧縮コイルばね２１は、両端を径大部４ａおよび他方の軸受１２に押し当てている。このように設けられた圧縮コイルばね２０，２１は、直動部材３，４を互いに反対方向である接近方向に付勢している。 The rotary shaft 2 is formed with a right screw 18 and a left screw 19 as conversion means. The right screw 18 and the left screw 19 of the rotary shaft 2 are respectively attached with linear motion members (ball nuts) 3 and 4 that are screwed into the right screw 18 and the left screw 19 on the inner side. Therefore, when the rotary shaft 2 rotates, the linear motion members 3 and 4 linearly move in directions opposite to each other.
The linear motion members 3 and 4 have large diameter portions 3a and 4a on end sides facing each other. The linear motion members 3 and 4 are wound with compression coil springs 20 and 21 as spring members. The compression coil spring 20 on the linear motion member 3 side has both ends of the large diameter portion 3a and one bearing. 12, both ends of the compression coil spring 21 on the linear motion member 4 side are pressed against the large diameter portion 4 a and the other bearing 12. The compression coil springs 20 and 21 provided in this manner urge the linear motion members 3 and 4 in the approaching directions that are opposite to each other.

本体１１の直動部材３，４近くの外側面には、案内部材２２が取り付けられている。この案内部材２２には、直動部材３，４の移動方向と同方向に延びる案内溝２３が形成されており、この案内溝２３に一対のスライダ２４，２５が摺動可能に嵌め込まれている。本体１１の外側面および案内部材２２には、本体１１内と案内溝２３との間を連通させる細長い開口部２６，２７が形成されている。   A guide member 22 is attached to the outer surface of the main body 11 near the linear motion members 3 and 4. The guide member 22 is formed with a guide groove 23 extending in the same direction as the linear motion members 3 and 4 and a pair of sliders 24 and 25 are slidably fitted into the guide groove 23. . The outer surface of the main body 11 and the guide member 22 are formed with elongated openings 26 and 27 that allow communication between the inside of the main body 11 and the guide groove 23.

一対のスライダ２４，２５は、一対の第１の連結部材２８，２９または図２の一対の第２の連結部材３０，３１によって一対の直動部材３，４に連結される。具体的には、第１の連結部材２８，２９を用いる場合には、図１に示すように、一方の直動部材３は一方の第１の連結部材２８によって一方のスライダ２４に連結され、他方の直動部材４は、他方の第１の連結部材２９によって他方のスライダ２５に連結される。また、第２の連結部材３０，３１を用いる場合には、図２に示すように、一方の直動部材３は一方の第２の連結部材３０によって他方のスライダ２５に連結され、他方の直動部材４は、他方の第２の連結部材３０によって一方のスライダ２４に連結される。   The pair of sliders 24 and 25 are coupled to the pair of linear motion members 3 and 4 by the pair of first coupling members 28 and 29 or the pair of second coupling members 30 and 31 of FIG. Specifically, when the first connecting members 28 and 29 are used, as shown in FIG. 1, one linear motion member 3 is connected to one slider 24 by one first connecting member 28, The other linear motion member 4 is coupled to the other slider 25 by the other first coupling member 29. When the second connecting members 30 and 31 are used, as shown in FIG. 2, one linear member 3 is connected to the other slider 25 by one second connecting member 30 and the other linear member 3 is connected. The moving member 4 is connected to one slider 24 by the other second connecting member 30.

ここで、第１の連結部材２８，２９および両第２の連結部材３０，３１の形態を説明する。両第１の連結部材２８，２９は、図１に示すようにレッグ部２８ａ，２９ａの一端側に連結部２８ｂ，２９ｂを有しており、第２の連結部材３０，３１は、図２に示すようにレッグ部３０ａ，３１ａの一端側に同じく連結部３０ｂ，３１ｂを有している。そして、図１に示すように、第１の連結部材２８，２９のうちの一方の第１の連結部材２８の連結部２８ｂは、直動部材３に着脱可能に取り付けられ、他方の第１の連結部材２９の連結部２９ｂは、他方の直動部材４に着脱可能に取り付けられる。
また、図２に示すように、第２の連結部材３０，３１のうちの一方の第２の連結部材３０の連結部３０ｂは、一方の直動部材３に着脱可能に取り付けられ、他方の第２の連結部材３０の連結部３１ｂは、他方の直動部材４に着脱可能に取り付けられる。 Here, the form of the 1st connection members 28 and 29 and the 2nd connection members 30 and 31 is demonstrated. As shown in FIG. 1, both first connecting members 28 and 29 have connecting portions 28b and 29b on one end side of the leg portions 28a and 29a, and the second connecting members 30 and 31 are shown in FIG. As shown, connecting portions 30b and 31b are similarly provided on one end side of the leg portions 30a and 31a. And as shown in FIG. 1, the connection part 28b of one 1st connection member 28 of the 1st connection members 28 and 29 is attached to the linear motion member 3 so that attachment or detachment is possible, and the other 1st connection member 28 is attached. The connecting portion 29 b of the connecting member 29 is detachably attached to the other linear motion member 4.
Further, as shown in FIG. 2, the connecting portion 30 b of one second connecting member 30 of the second connecting members 30 and 31 is detachably attached to one linear motion member 3, and the other The connecting portion 31 b of the second connecting member 30 is detachably attached to the other linear motion member 4.

図１に示すように、直動部材３，４に取り付けられた状態で第１の連結部材２８，２９のレッグ部２８ａ，２９ａの他端部は、案内部材２２の開口部２７内にあり、このレッグ部２８ａ，２９ａの他端部に、互いに離れる方向に延びる短いＬ字形の取付部２８ｃ，２９ｃが形成されている。そして、取付部２８ｃがスライダ２４にねじ３３によって着脱可能に取り付けられ、取付部２９ｃがスライダ２５に別のねじ３３によって着脱可能に取り付けられる。
一方、図２に示すように、直動部材３，４に取り付けられた状態で第２の連結部材３０，３１のレッグ部３０ａ，３１ａの他端部は、案内部材２２の開口部２７内にあって互いに干渉しないように当該開口部２７の幅方向の一方側および他方側に偏って位置し、このレッグ部の他端部に互いに接近する方向に伸びる長いＬ字形の取付部３０ｃ，３１ｃが延長されている。そして、取付部３０ｃがスライダ２５にねじ３３によって着脱可能に取り付けられ、取付部３１ｃがスライダ２４にねじ３３によって着脱可能に取り付けられている。 As shown in FIG. 1, the other end portions of the leg portions 28 a and 29 a of the first connecting members 28 and 29 in the state of being attached to the linear motion members 3 and 4 are in the opening portion 27 of the guide member 22. Short L-shaped attachment portions 28c and 29c extending in directions away from each other are formed at the other ends of the leg portions 28a and 29a. The attachment portion 28 c is detachably attached to the slider 24 with a screw 33, and the attachment portion 29 c is detachably attached to the slider 25 with another screw 33.
On the other hand, as shown in FIG. 2, the other end portions of the leg portions 30 a and 31 a of the second connecting members 30 and 31 are attached to the linear motion members 3 and 4 in the opening portion 27 of the guide member 22. Long L-shaped attachment portions 30c and 31c which are located on one side and the other side in the width direction of the opening 27 so as not to interfere with each other and extend in a direction approaching each other at the other end of the leg portion. It has been extended. The attachment portion 30c is detachably attached to the slider 25 with a screw 33, and the attachment portion 31c is detachably attached to the slider 24 with a screw 33.

以上のような第１の連結部材２８，２９および第２の連結部材３０，３１を選択的に用いて一対の直動部材３，４と一対のスライダ２４，２５とを連結することにより、直動部材３，４の互いに接近する方向の移動によって、スライダ２４，２５が互いに接近する方向に移動され（第１の連結部材２８，２９を用いた場合）、或いはスライダ２４，２５が互いに離間する方向に移動する（第２の連結部材３０，３１を用いた場合）ようになる。   By selectively using the first connecting members 28 and 29 and the second connecting members 30 and 31 as described above, the pair of linear motion members 3 and 4 and the pair of sliders 24 and 25 are connected to each other. Due to the movement of the moving members 3 and 4 toward each other, the sliders 24 and 25 are moved toward each other (when the first connecting members 28 and 29 are used), or the sliders 24 and 25 are separated from each other. It moves in the direction (when the second connecting members 30, 31 are used).

そして、このスライダ２４，２５に第１の把持部材５，６または第２の把持部材７，８が選択的に取り付けられる。つまり、直動部材３，４とスライダ２４，２５とを、第１の連結部材２８，２９を用いて連結した場合には、スライダ２４，２５に第１の把持部材５，６を取り付け、第２の連結部材３０，３１を用いて連結した場合には、スライダ２４，２５に第２の把持部材７，８を取り付ける。   The first gripping members 5 and 6 or the second gripping members 7 and 8 are selectively attached to the sliders 24 and 25. That is, when the linear motion members 3 and 4 and the sliders 24 and 25 are coupled using the first coupling members 28 and 29, the first gripping members 5 and 6 are attached to the sliders 24 and 25, and the first When the two connecting members 30 and 31 are used for connection, the second holding members 7 and 8 are attached to the sliders 24 and 25.

次に、図３を参照して本実施形態による電動ハンドの要部を説明する。図３では、直動部材３側について第１の連結部材２８を用いる例について説明する。なお、直動部材４側も、直動部材３側と同一の構造である。また、電動ハンドには、第２の連結部材３０，３１を用いてもよい。
図３に示す場合、連結部材２８は、連結部２８ｂから筒状に延びる筒部２８ｄを有している。筒部２８ｄは、連結部２８ｂと一体に、連結部２８ｂから軸受１２側へ筒状に延びて形成されている。直動部材３の径大部３ａは、この筒部２８ｄの内側に挿入されている。これにより、直動部材３は、径大部３ａが筒部２８ｄの内側において回転軸２の軸方向へ往復移動可能である。この直動部材３と連結部材２８との間には、弾性部材５０が挟み込まれている。弾性部材５０は、直動部材３の径大部３ａの端面と、連結部材２８の筒部２８ｄの連結部２８ｂ側の端面との間に挟み込まれている。弾性部材５０は、例えばゴムや発泡樹脂などの弾性を有する柔軟な材料で形成されている。これにより、直動部材３の径大部３ａが連結部材２８の筒部２８ｄへ押し込まれる方向へ移動するとき、弾性部材５０は圧縮される。一方、直動部材３の径大部３ａが連結部材２８の筒部２８ｄから抜き出る方向へ移動するとき、弾性部材５０は伸長する。 Next, the main part of the electric hand according to the present embodiment will be described with reference to FIG. In FIG. 3, the example which uses the 1st connection member 28 about the linear motion member 3 side is demonstrated. The linear motion member 4 side has the same structure as the linear motion member 3 side. Further, the second connecting members 30 and 31 may be used for the electric hand.
In the case shown in FIG. 3, the connecting member 28 has a cylindrical portion 28 d extending in a cylindrical shape from the connecting portion 28 b. The cylindrical portion 28d is formed integrally with the connecting portion 28b so as to extend in a cylindrical shape from the connecting portion 28b to the bearing 12 side. The large diameter portion 3a of the linear motion member 3 is inserted inside the cylindrical portion 28d. Thereby, the linear motion member 3 is capable of reciprocating in the axial direction of the rotary shaft 2 with the large diameter portion 3a inside the cylindrical portion 28d. An elastic member 50 is sandwiched between the linear motion member 3 and the connecting member 28. The elastic member 50 is sandwiched between the end surface of the large-diameter portion 3 a of the linear motion member 3 and the end surface of the cylindrical portion 28 d of the connecting member 28 on the connecting portion 28 b side. The elastic member 50 is formed of a flexible material having elasticity such as rubber or foamed resin. Thereby, when the large-diameter portion 3a of the linear motion member 3 moves in a direction to be pushed into the cylindrical portion 28d of the connecting member 28, the elastic member 50 is compressed. On the other hand, when the large-diameter portion 3a of the linear motion member 3 moves in the direction of being extracted from the cylindrical portion 28d of the connecting member 28, the elastic member 50 expands.

連結部材２８は、ボルト５１によって直動部材３に着脱可能に取り付けられている。ボルト５１は、連結部材２８の連結部２８ｂおよび弾性部材５０を貫いて、端部が直動部材３の径大部３ａにねじ込まれている。これにより、直動部材３が対向する直動部材４側へ移動するとき、直動部材３は弾性部材５０を圧縮しつつ移動する。これとともに、ボルト５１の直動部材４側の端部は、直動部材３の移動にともなって連結部材２８の連結部２８ｂから対向する直動部材４側へ突出する。一方、直動部材３が直動部材４と反対側へ移動するとき、直動部材３と連結部材２８との距離が拡大するため、直動部材３から弾性部材５０へ加わる力は減少し、弾性部材５０は自身の弾性力により伸長する。これとともに、ボルト５１の直動部材４側の端部は、直動部材３の移動にともなって連結部２８ｂの直動部材４側の端面に向けて移動する。   The connecting member 28 is detachably attached to the linear motion member 3 with bolts 51. The bolt 51 penetrates the connecting portion 28 b and the elastic member 50 of the connecting member 28, and an end portion is screwed into the large diameter portion 3 a of the linear motion member 3. Thereby, when the linear motion member 3 moves to the opposing linear motion member 4 side, the linear motion member 3 moves while compressing the elastic member 50. At the same time, the end portion of the bolt 51 on the linear motion member 4 side protrudes from the coupling portion 28 b of the coupling member 28 toward the linear motion member 4 side as the linear motion member 3 moves. On the other hand, when the linear motion member 3 moves to the opposite side of the linear motion member 4, the distance between the linear motion member 3 and the connecting member 28 increases, so the force applied from the linear motion member 3 to the elastic member 50 decreases. The elastic member 50 extends due to its own elastic force. At the same time, the end portion of the bolt 51 on the linear motion member 4 side moves toward the end surface of the coupling portion 28 b on the linear motion member 4 side as the linear motion member 3 moves.

上記の構成により、把持部材５，６で図示しない把持対象物を把持するとき、直動部材３と直動部材４とは互いに接近する。そして、把持部材５，６の双方が把持対象物に接することにより、把持部材５，６は、把持対象物を把持する。ここで、把持対象物が脆弱あるいは柔軟な材料で形成されているとき、把持部材５，６がさらなる接近を行うと、把持対象物に破損を招く原因となる。本実施形態の場合、把持部材５，６の双方が把持対象物に接して把持しているときに、直動部材３，４にさらなる移動が生じると、直動部材３，４は連結部材２８，２９との間に挟み込まれている弾性部材５０を圧縮する。つまり、弾性部材５０が把持対象物よりも柔軟であれば、把持対象物を把持した状態で直動部材３，４にさらなる移動が生じても、直動部材３，４は弾性部材５０を変形させるだけである。そのため、直動部材３，４の移動は、連結部材２８，２９および把持部材５，６を経由して把持対象物に伝達されず、把持対象物の破損が回避される。   With the above configuration, when the gripping object (not shown) is gripped by the gripping members 5 and 6, the linear motion member 3 and the linear motion member 4 approach each other. Then, when both of the gripping members 5 and 6 are in contact with the gripping object, the gripping members 5 and 6 grip the gripping object. Here, when the gripping object is formed of a fragile or flexible material, if the gripping members 5 and 6 further approach, it causes damage to the gripping object. In the case of the present embodiment, when both the gripping members 5 and 6 are gripping in contact with the gripping object, if the linear motion members 3 and 4 are further moved, the linear motion members 3 and 4 are connected to the connecting member 28. , 29 is compressed. In other words, if the elastic member 50 is more flexible than the object to be grasped, the linear members 3 and 4 deform the elastic member 50 even if the linear members 3 and 4 are further moved while the object to be grasped is gripped. Just let it. Therefore, the movement of the linear motion members 3 and 4 is not transmitted to the gripping object via the connecting members 28 and 29 and the gripping members 5 and 6, and the gripping object is prevented from being damaged.

一方、直動部材３，４が後退すなわち互いに離間する方向へ移動するとき、弾性部材５０が圧縮されていれば、ボルト５１の端部と連結部２８ｂ，２９ｂとが接するまで連結部材２８，２９および把持部材５，６は移動しない。ボルト５１の端部と連結部２８ｂ，２９ｂとが接すると、直動部材３，４の駆動力は連結部材２８，２９へ伝わる。そのため、連結部材２８，２９および把持部材５，６は、直動部材３，４とともに移動する。   On the other hand, if the elastic members 50 are compressed when the linear members 3 and 4 move backward, that is, move away from each other, the connecting members 28 and 29 until the end of the bolt 51 contacts the connecting portions 28b and 29b. And the holding members 5 and 6 do not move. When the end of the bolt 51 and the connecting portions 28 b and 29 b are in contact with each other, the driving force of the linear motion members 3 and 4 is transmitted to the connecting members 28 and 29. Therefore, the connecting members 28 and 29 and the gripping members 5 and 6 move together with the linear motion members 3 and 4.

次に、上記の構成による電動ハンドの制御機構および制御について説明する。
電動ハンドは、上記の機械的な構成に加え、変位量センサ６１および制御部６２を備えている。変位量センサ６１は、直動部材３と連結部材２８、および直動部材４と連結部材２９との間の相対的な移動距離に基づいて、弾性部材５０の変位量を検出する。変位量センサ６１は、一方の端部が直動部材３，４に取り付けられ、他方の端部が連結部材２８、２９に取り付けられている。変位量センサ６１は、直動部材３，４と連結部材２８，２９との間の相対的な移動距離に基づいて、この移動距離に対応する弾性部材５０の変位量を検出する。図３に示す具体的な例の場合、変位量センサ６１は、一方が直動部材３に取り付けられ、他方が連結部材２８に取り付けられている。変位量センサ６１は、この直動部材３と連結部材２８との間の相対的な距離の変化を検出するリニアセンサである。 Next, the control mechanism and control of the electric hand configured as described above will be described.
The electric hand includes a displacement sensor 61 and a control unit 62 in addition to the mechanical configuration described above. The displacement amount sensor 61 detects the displacement amount of the elastic member 50 based on the relative movement distance between the linear motion member 3 and the coupling member 28 and between the linear motion member 4 and the coupling member 29. The displacement sensor 61 has one end attached to the linear motion members 3 and 4 and the other end attached to the connecting members 28 and 29. The displacement sensor 61 detects the displacement of the elastic member 50 corresponding to the movement distance based on the relative movement distance between the linear motion members 3 and 4 and the connecting members 28 and 29. In the specific example shown in FIG. 3, one of the displacement amount sensors 61 is attached to the linear motion member 3 and the other is attached to the connecting member 28. The displacement sensor 61 is a linear sensor that detects a change in the relative distance between the linear motion member 3 and the connecting member 28.

制御部６２は、上述のロータリエンコーダ１０および変位量センサ６１に接続している。ロータリエンコーダ１０は、検出したサーボモータ１の回転位置を電気信号として制御部６２へ出力する。また、変位量センサ６１は、検出した弾性部材５０の変位量を電気信号として制御部６２へ出力する。また、制御部６２は、サーボモータ１と接続し、サーボモータ１の回転角度を制御する。制御部６２は、図示しないＣＰＵ、ＲＯＭおよびＲＡＭからなるマイクロコンピュータで構成されている。制御部６２は、ＲＯＭに記憶されているコンピュータプログラムにしたがってサーボモータ１をはじめとする電動ハンドの全体を制御する。   The control unit 62 is connected to the rotary encoder 10 and the displacement sensor 61 described above. The rotary encoder 10 outputs the detected rotational position of the servo motor 1 to the control unit 62 as an electric signal. Further, the displacement sensor 61 outputs the detected displacement of the elastic member 50 to the controller 62 as an electrical signal. The control unit 62 is connected to the servo motor 1 and controls the rotation angle of the servo motor 1. The control unit 62 is configured by a microcomputer including a CPU, a ROM, and a RAM (not shown). The control unit 62 controls the entire electric hand including the servo motor 1 according to a computer program stored in the ROM.

把持力算出部６３および変位量制御部６４は、制御部でコンピュータプログラムを実行することにより、ソフトウェア的に実現されている。なお、把持力算出部６３および変位量制御部６４は、ハードウェア的に実現してもよい。把持力算出部６３は、変位量センサ６１で検出した弾性部材５０の変位量に基づいて、把持部材５，６および把持部材７，８による把持対象物の把持力を算出する。具体的には、把持部材５，６および把持部材７，８による把持対象物の把持力Ｆ（Ｎ）は、以下の式（１）から算出される。   The gripping force calculation unit 63 and the displacement amount control unit 64 are realized by software by executing a computer program in the control unit. Note that the gripping force calculation unit 63 and the displacement amount control unit 64 may be realized in hardware. The gripping force calculation unit 63 calculates the gripping force of the gripping object by the gripping members 5, 6 and the gripping members 7, 8 based on the displacement amount of the elastic member 50 detected by the displacement amount sensor 61. Specifically, the gripping force F (N) of the gripping object by the gripping members 5 and 6 and the gripping members 7 and 8 is calculated from the following formula (1).

Ｆ＝ｘ×ｋ （１）
式（１）において、ｘは弾性部材５０の変位量（ｍ）であり、ｋは弾性部材５０のばね定数（Ｎ／ｍ）である。このように、把持力Ｆは、変位量センサ６１で検出した弾性部材５０の変位量ｘに基づいて、弾性部材５０について既知のばね定数ｋから算出される。弾性部材５０の変位量は、弾性部材５０が変位を開始してからの直動部材３，４と連結部材２８，２９との間の相対的な移動量に一致する。すなわち、弾性部材５０が変位を開始する位置が既知であれば、そこからの直動部材３，４と連結部材２８，２９との相対的な移動量は弾性部材５０の変位量となる。この弾性部材５０の変位量は、連結部材２８，２９によって直動部材３，４と連結される把持部材５，６および把持部材７，８の移動量に一致する。その結果、把持力Ｆは、上記の式（１）から算出することができる。このように、把持力算出部６３は、変位量センサ６１で検出した弾性部材５０の変位量ｘに基づいて、把持力Ｆを算出する。 F = xx × k (1)
In Expression (1), x is the displacement amount (m) of the elastic member 50, and k is the spring constant (N / m) of the elastic member 50. Thus, the gripping force F is calculated from the spring constant k known for the elastic member 50 based on the displacement amount x of the elastic member 50 detected by the displacement amount sensor 61. The amount of displacement of the elastic member 50 corresponds to the amount of relative movement between the linear members 3 and 4 and the connecting members 28 and 29 after the elastic member 50 starts displacement. That is, if the position at which the elastic member 50 starts to be displaced is known, the relative movement amount between the linear members 3 and 4 and the connecting members 28 and 29 is the displacement amount of the elastic member 50. The amount of displacement of the elastic member 50 matches the amount of movement of the gripping members 5 and 6 and the gripping members 7 and 8 connected to the linear motion members 3 and 4 by the connecting members 28 and 29. As a result, the gripping force F can be calculated from the above equation (1). In this way, the gripping force calculation unit 63 calculates the gripping force F based on the displacement amount x of the elastic member 50 detected by the displacement amount sensor 61.

変位量制御部６４は、ロータリエンコーダ１０で検出したサーボモータ１の回転位置、および変位量センサ６１で検出した弾性部材５０の変位量に基づいて、サーボモータ１の回転位置を制御して、把持部材５，６および把持部材７，８の変位量を制御する。把持対象物が柔軟である場合、ロータリエンコーダ１０で検出したサーボモータ１の回転位置と、変位量センサ６１で検出した把持部材５，６および把持部材７，８の実際の変位量に対応する変位量ｘとの間にはずれが生じる。そこで、変位量制御部６４は、このロータリエンコーダ１０で検出したサーボモータ１の回転位置と、変位量センサ６１で検出した変位量ｘに基づいて、把持部材５，６および把持部材７，８の位置をフィードバック制御する。   The displacement amount control unit 64 controls the rotational position of the servo motor 1 based on the rotational position of the servo motor 1 detected by the rotary encoder 10 and the displacement amount of the elastic member 50 detected by the displacement amount sensor 61, and holds the grip. The displacement amounts of the members 5 and 6 and the gripping members 7 and 8 are controlled. When the object to be grasped is flexible, the rotation position of the servo motor 1 detected by the rotary encoder 10 and the displacement corresponding to the actual displacement amounts of the grasping members 5 and 6 and the grasping members 7 and 8 detected by the displacement amount sensor 61. There is a deviation from the quantity x. Therefore, the displacement amount control unit 64 determines whether the gripping members 5, 6 and the gripping members 7, 8 are based on the rotational position of the servo motor 1 detected by the rotary encoder 10 and the displacement amount x detected by the displacement amount sensor 61. The position is feedback controlled.

次に、電動ハンドの制御手順について説明する。
まず、図５に基づいて把持対象物の破壊を考慮した制御について説明する。なお、この制御手順では、図１に示す構成の電動ハンドを例に説明する。
電動ハンドの運転が開始されると、制御部６２は、把持部材５，６を移動させる（Ｓ１０１）。具体的には、制御部６２は、サーボモータ１を駆動し、直動部材３，４を互いに接近する方向へ駆動する。そして、制御部６２は、変位量センサ６１で変位量ｘを検出する（Ｓ１０２）。すなわち、制御部６２は、任意の測定時期において、変位量センサ６１から出力される電気信号に基づいて、直動部材３，４と連結部材２８，２９との間の相対的な移動距離を変位量ｘとして取得する。 Next, the control procedure of the electric hand will be described.
First, the control in consideration of the destruction of the grasped object will be described based on FIG. In this control procedure, the electric hand having the configuration shown in FIG. 1 will be described as an example.
When the operation of the electric hand is started, the control unit 62 moves the grip members 5 and 6 (S101). Specifically, the control unit 62 drives the servo motor 1 and drives the linear motion members 3 and 4 in a direction approaching each other. And the control part 62 detects the displacement amount x with the displacement amount sensor 61 (S102). That is, the control unit 62 displaces the relative movement distance between the linear motion members 3 and 4 and the connecting members 28 and 29 based on the electrical signal output from the displacement sensor 61 at an arbitrary measurement time. Get as quantity x.

制御部６２は、Ｓ１０２において変位量ｘを取得すると、今回取得した変位量ｘｎが前回取得した変位量ｘｎ−１より大きいか否かを判断する（Ｓ１０３）。把持部材５，６が把持対象物を把持するまで、すなわち把持部材５，６が把持対象物を把持していないとき、把持部材５，６が連結された連結部材２８，２９には反力が加わらない。そのため、弾性部材５０は、把持部材５，６が把持対象物を把持するまで変位量が「０」すなわちｘ＝０となる。そして、把持部材５，６が把持対象物を把持すると、把持対象物から連結部材２８，２９に反力が加わるため、弾性部材５０の変位量ｘは徐々に増大する。そこで、制御部６２は、変位量ｘを定期的に検出し、今回取得した変位量ｘｎが前回取得した変位量ｘｎ−１よりも大きいか否かを判断する。今回取得した変位量ｘｎが前回取得した変位量ｘｎ−１以下、すなわち変位量ｘに変化がないとき（Ｓ１０３：Ｎｏ）、制御部６２はＳ１０１へリターンし把持部材５，６をさらに移動させる。   When acquiring the displacement amount x in S102, the control unit 62 determines whether or not the currently acquired displacement amount xn is larger than the previously acquired displacement amount xn−1 (S103). Until the gripping members 5 and 6 grip the gripping object, that is, when the gripping members 5 and 6 are not gripping the gripping object, a reaction force is applied to the connecting members 28 and 29 to which the gripping members 5 and 6 are connected. Don't join. Therefore, the amount of displacement of the elastic member 50 is “0”, that is, x = 0 until the gripping members 5 and 6 grip the object to be gripped. When the gripping members 5 and 6 grip the gripping object, a reaction force is applied from the gripping object to the connecting members 28 and 29, so that the displacement amount x of the elastic member 50 gradually increases. Therefore, the control unit 62 periodically detects the displacement amount x, and determines whether or not the displacement amount xn acquired this time is larger than the displacement amount xn−1 acquired last time. When the displacement amount xn acquired this time is equal to or less than the displacement amount xn−1 acquired last time, that is, when the displacement amount x has not changed (S103: No), the control unit 62 returns to S101 and moves the gripping members 5 and 6 further.

一方、制御部６２で今回取得した変位量ｘｎが前回取得した変位量ｘｎ−１よりも大きいと判断すると（Ｓ１０３：Ｙｅｓ）、把持力算出部６３は取得した変位量ｘｎに相当する把持力Ｆを算出する（Ｓ１０４）。すなわち、把持力算出部６３は、Ｓ１０２で取得した変位量ｘに基づいて、式（１）から把持力Ｆを算出する。そして、変位量制御部６４は、Ｓ１０４で算出した把持力Ｆが予め設定されている把持力下限値Ｆａ以上であるか否かを判断する（Ｓ１０５）。この把持力下限値Ｆａは、把持対象物を把持可能な最小限の把持力として、把持対象物の種類に応じて予め設定され、ＲＯＭに記憶されている。   On the other hand, when the control unit 62 determines that the displacement amount xn acquired this time is larger than the displacement amount xn−1 acquired last time (S103: Yes), the gripping force calculation unit 63 determines the gripping force F corresponding to the acquired displacement amount xn. Is calculated (S104). That is, the gripping force calculation unit 63 calculates the gripping force F from Expression (1) based on the displacement amount x acquired in S102. Then, the displacement amount control unit 64 determines whether or not the gripping force F calculated in S104 is equal to or greater than a preset gripping force lower limit value Fa (S105). The gripping force lower limit value Fa is set in advance according to the type of the gripping object as a minimum gripping force capable of gripping the gripping object, and is stored in the ROM.

変位量制御部６４は、算出した把持力Ｆが把持力下限値Ｆａ以上であると判断すると（Ｓ１０５：Ｙｅｓ）、サーボモータ１の駆動を停止し、把持部材５．６の移動を停止させる。すなわち、把持力Ｆが把持力下限値Ｆａ以上になると、把持対象物の破壊を招くおそれがある。そこで、変位量制御部６４は、Ｓ１０４で算出した把持力Ｆが把持力下限値Ｆａ以上になると、把持部材５，６の移動を停止させる。   When determining that the calculated gripping force F is equal to or greater than the gripping force lower limit value Fa (S105: Yes), the displacement amount control unit 64 stops the driving of the servo motor 1 and stops the movement of the gripping member 5.6. That is, when the gripping force F is equal to or greater than the gripping force lower limit value Fa, there is a possibility that the target object is destroyed. Accordingly, the displacement amount control unit 64 stops the movement of the gripping members 5 and 6 when the gripping force F calculated in S104 becomes equal to or greater than the gripping force lower limit value Fa.

一方、変位量制御部６４は、Ｓ１０４で算出した把持力Ｆが把持力下限値Ｆａより小さいと判断すると（Ｓ１０５：Ｎｏ）、Ｓ１０１へリターンし、把持部材５，６をさらに移動させる。把持力Ｆが把持力下限値Ｆａよりも小さいとき、把持部材５，６をさらに移動させても把持対象物の破壊を招くおそれはない。そこで、変位量制御部６４は、把持力Ｆが把持力下限値Ｆａより小さいと判断すると、サーボモータ１を例えば１ステップ進め、把持部材５，６をさらに移動させる。そして、変位量制御部６４は、Ｓ１０５において把持力Ｆが把持力下限値Ｆａ以上と判断されるまで、Ｓ１０１以降の処理を繰り返す。   On the other hand, when determining that the gripping force F calculated in S104 is smaller than the gripping force lower limit value Fa (S105: No), the displacement amount control unit 64 returns to S101 and further moves the gripping members 5 and 6. When the gripping force F is smaller than the gripping force lower limit value Fa, even if the gripping members 5 and 6 are further moved, there is no possibility of causing the destruction of the gripped object. Therefore, when the displacement amount control unit 64 determines that the gripping force F is smaller than the gripping force lower limit value Fa, the servo motor 1 is advanced by one step, for example, and the gripping members 5 and 6 are further moved. Then, the displacement amount control unit 64 repeats the processing from S101 onward until it is determined in S105 that the gripping force F is greater than or equal to the gripping force lower limit value Fa.

次に、図６に基づいて把持対象物の破壊だけでなく把持部材の位置精度を考慮した制御について説明する。なお、この制御手順でも、図１に示す構成の電動ハンドを例に説明する。
電動ハンドの運転が開始されると、制御部６２は、把持部材５，６を移動させる（Ｓ２０１）。具体的には、制御部６２は、サーボモータ１を駆動し、直動部材３，４を互いに接近する方向へ駆動する。そして、制御部６２は、変位量センサ６１で変位量ｘを検出し、ロータリエンコーダ１０で変位量ｒを検出する（Ｓ２０２）。すなわち、制御部６２は、任意の測定時期において、変位量センサ６１およびロータリエンコーダ１０から出力される電気信号に基づいて、変位量ｘおよび変位量ｒを取得する。ここで、変位量ｘは、上記の通り、直動部材３，４と連結部材２８，２９との間の相対的な移動距離である。また、変位量ｒは、ロータリエンコーダ１０で取得したサーボモータ１の回転位置に基づいて取得した変位量である。 Next, based on FIG. 6, control that considers not only the destruction of the gripping object but also the positional accuracy of the gripping member will be described. In this control procedure, the electric hand having the configuration shown in FIG. 1 will be described as an example.
When the operation of the electric hand is started, the control unit 62 moves the grip members 5 and 6 (S201). Specifically, the control unit 62 drives the servo motor 1 and drives the linear motion members 3 and 4 in a direction approaching each other. And the control part 62 detects the displacement amount x with the displacement amount sensor 61, and detects the displacement amount r with the rotary encoder 10 (S202). That is, the control unit 62 acquires the displacement amount x and the displacement amount r based on the electrical signals output from the displacement amount sensor 61 and the rotary encoder 10 at an arbitrary measurement time. Here, the displacement amount x is a relative movement distance between the linear members 3 and 4 and the connecting members 28 and 29 as described above. The displacement amount r is a displacement amount acquired based on the rotational position of the servo motor 1 acquired by the rotary encoder 10.

制御部６２は、Ｓ２０２において変位量ｘおよび変位量ｒを取得すると、変位量センサ６１で今回取得した変位量ｘｎが前回取得した変位量ｘｎ−１より大きいか否かを判断する（Ｓ２０３）。上述の通り、把持部材５，６が把持対象物を把持するまで、弾性部材５０の変位量ｘは「０」となる。そして、把持部材５，６が把持対象物を把持すると、把持対象物から連結部材２８，２９に加わる反力によって、弾性部材５０の変位量ｘは徐々に増大する。そこで、制御部６２は、変位量ｘを定期的に検出し、今回取得した変位量ｘｎが前回取得した変位量ｘｎ−１よりも大きいか否かを判断する。今回取得した変位量ｘｎが前回取得した変位量ｘｎ−１以下、すなわち変位量ｘに変化がないとき（Ｓ２０３：Ｎｏ）、制御部はＳ２０１へリターンし把持部材５，６をさらに移動させる。   When acquiring the displacement amount x and the displacement amount r in S202, the control unit 62 determines whether or not the displacement amount xn acquired this time by the displacement amount sensor 61 is larger than the displacement amount xn−1 acquired last time (S203). As described above, the displacement amount x of the elastic member 50 is “0” until the gripping members 5 and 6 grip the object to be gripped. When the gripping members 5 and 6 grip the gripping object, the displacement amount x of the elastic member 50 gradually increases due to the reaction force applied to the connecting members 28 and 29 from the gripping object. Therefore, the control unit 62 periodically detects the displacement amount x, and determines whether or not the displacement amount xn acquired this time is larger than the displacement amount xn−1 acquired last time. When the displacement amount xn acquired this time is equal to or less than the displacement amount xn−1 acquired last time, that is, when the displacement amount x does not change (S203: No), the control unit returns to S201 and moves the gripping members 5 and 6 further.

一方、制御部６２で今回取得した変位量ｘｎが前回取得した変位量ｘｎ−１よりも大きいと判断すると（Ｓ２０３：Ｙｅｓ）、把持力算出部６３は取得した変位量ｘｎに相当する把持力Ｆを算出する（Ｓ２０４）。すなわち、把持力算出部６３は、Ｓ２０２で取得した変位量ｘに基づいて、式（１）から把持力Ｆを算出する。そして、変位量制御部６４は、Ｓ２０４で算出した把持力Ｆが予め設定されている把持力上限値Ｆｂより小さいか否かを判断する（Ｓ２０５）。この把持力上限値Ｆｂは、把持対象物を破壊するおそれのある把持力であり、把持対象物の種類に応じて予め設定され、ＲＯＭに記憶されている。   On the other hand, when the control unit 62 determines that the displacement amount xn acquired this time is larger than the displacement amount xn−1 acquired last time (S203: Yes), the gripping force calculation unit 63 determines the gripping force F corresponding to the acquired displacement amount xn. Is calculated (S204). That is, the gripping force calculation unit 63 calculates the gripping force F from Expression (1) based on the displacement amount x acquired in S202. Then, the displacement amount control unit 64 determines whether or not the gripping force F calculated in S204 is smaller than a preset gripping force upper limit value Fb (S205). This gripping force upper limit value Fb is a gripping force that may destroy the gripping object, and is preset according to the type of the gripping object and stored in the ROM.

変位量制御部６４は、算出した把持力Ｆが把持力上限値Ｆｂ以上であると判断すると（Ｓ２０５：Ｎｏ）、サーボモータ１の駆動を停止し、把持部材５，６の移動を停止させる（Ｓ２０６）。すなわち、把持力Ｆが把持力上限値Ｆｂ以上であると、把持部材５，６で把持する把持対象物に破損を生じるおそれがある。そこで、変位量制御部６４は、サーボモータ１の駆動を停止し、把持部材５，６のさらなる移動を制限する。   When the displacement amount control unit 64 determines that the calculated gripping force F is greater than or equal to the gripping force upper limit value Fb (S205: No), it stops driving the servo motor 1 and stops the movement of the gripping members 5 and 6 ( S206). That is, if the gripping force F is equal to or greater than the gripping force upper limit value Fb, the gripping target object gripped by the gripping members 5 and 6 may be damaged. Therefore, the displacement amount control unit 64 stops driving the servo motor 1 and restricts further movement of the gripping members 5 and 6.

一方、変位量制御部６４は、Ｓ２０４で算出した把持力Ｆが把持力上限値Ｆｂより小さいと判断すると（Ｓ２０５：Ｙｅｓ）、変位の総量Ｌを算出する（Ｓ２０７）。この変位の総量Ｌは、Ｓ２０２で取得した変位量ｘと変位量ｒとの差、すなわちＬ＝ｒ−ｘである。サーボモータ１を駆動することにより、把持部材５，６に連結する直動部材３，４は、把持対象物に向けて移動する。一方、把持部材５，６が把持対象物に接すると、把持対象物から把持部材５，６へ加わる反力により弾性部材５０は圧縮される。そのため、把持部材５，６は、直動部材３，４の移動方向とは逆方向へ押し返される。このように、実際の把持部材５，６の変位の総量Ｌは、ロータリエンコーダ１０で検出したサーボモータ１の回転位置に基づく変位量ｒと相違する。そこで、変位量制御部６４は、サーボモータ１の変位量ｒと、弾性部材５０の変位量ｘから、実際の把持部材５，６の変位の総量Ｌを算出する。   On the other hand, when the displacement amount control unit 64 determines that the gripping force F calculated in S204 is smaller than the gripping force upper limit Fb (S205: Yes), the displacement amount control unit 64 calculates a total displacement L (S207). The total amount L of displacement is the difference between the displacement amount x and the displacement amount r acquired in S202, that is, L = r−x. By driving the servo motor 1, the linear motion members 3 and 4 connected to the gripping members 5 and 6 move toward the gripping object. On the other hand, when the gripping members 5 and 6 are in contact with the gripping object, the elastic member 50 is compressed by a reaction force applied to the gripping members 5 and 6 from the gripping object. Therefore, the gripping members 5 and 6 are pushed back in the direction opposite to the moving direction of the linear motion members 3 and 4. Thus, the actual total displacement L of the gripping members 5 and 6 is different from the displacement r based on the rotational position of the servo motor 1 detected by the rotary encoder 10. Accordingly, the displacement amount control unit 64 calculates the actual total displacement L of the gripping members 5 and 6 from the displacement amount r of the servo motor 1 and the displacement amount x of the elastic member 50.

変位量制御部６４は、Ｓ２０７で変位の総量Ｌを算出すると、算出した変位の総量Ｌが予め設定されている目標変位量Ｌａに到達したか否かを判断する（Ｓ２０８）。この目標変位量Ｌａは、把持対象物を把持するための変位量として、把持対象物に応じて予め設定され、ＲＯＭに記憶されている。   After calculating the total displacement L in S207, the displacement amount control unit 64 determines whether or not the calculated total displacement L has reached a preset target displacement La (S208). This target displacement amount La is set in advance according to the gripping object as a displacement amount for gripping the gripping object, and is stored in the ROM.

変位量制御部６４は、算出した変位の総量Ｌが目標変位量Ｌａに到達したと判断すると（Ｓ２０８：Ｙｅｓ）、サーボモータ１の駆動を停止し、把持部材５，６の移動を停止させる。すなわち、変位の総量Ｌが目標変位量Ｌａより大きくなると、把持対象物の破壊を招くおそれがある。そこで、変位量制御部６４は、Ｓ２０７で算出した変位の総量Ｌが目標変位量Ｌａに到達すると、把持部材５，６の移動を停止させる。   When the displacement amount control unit 64 determines that the calculated total displacement amount L has reached the target displacement amount La (S208: Yes), the displacement amount control unit 64 stops driving the servo motor 1 and stops the movement of the gripping members 5 and 6. That is, when the total amount L of displacement is larger than the target displacement amount La, there is a possibility that the object to be grasped is destroyed. Therefore, the displacement amount control unit 64 stops the movement of the gripping members 5 and 6 when the total amount L of displacement calculated in S207 reaches the target displacement amount La.

一方、変位量制御部６４は、Ｓ２０７で算出した変位の総量Ｌが目標変位量Ｌａに到達していないと判断すると（Ｓ２０８：Ｎｏ）、Ｓ２０１へリターンし、把持部材５，６をさらに移動させる。変位の総量Ｌが目標変位量Ｌａよりも小さいとき、把持部材５，６をさらに移動させても把持対象物の破壊を招くおそれはない。そこで、変位量制御部６４は、変位の総量Ｌが目標変位量Ｌａよりも小さいと判断すると、サーボモータ１を例えば１ステップ進め、把持部材５，６をさらに移動させる。そして、変位量制御部６４は、Ｓ２０８において変位の総量Ｌが目標変位量Ｌａに到達するまで、Ｓ２０１以降の処理を繰り返す。
このように本実施形態によれば、回転軸２がサーボモータ１と並列に配設されているので、本体１１としては、サーボモータ１の出力軸９に回転軸２を直結する場合とは異なり、それ程長尺にならず、小型化できる。 On the other hand, when the displacement amount control unit 64 determines that the total displacement amount L calculated in S207 has not reached the target displacement amount La (S208: No), the process returns to S201, and the gripping members 5 and 6 are further moved. . When the total amount L of displacement is smaller than the target displacement amount La, there is no possibility that the gripping object will be destroyed even if the gripping members 5 and 6 are further moved. Therefore, when the displacement amount control unit 64 determines that the total displacement amount L is smaller than the target displacement amount La, the servo motor 1 is advanced by one step, for example, and the gripping members 5 and 6 are further moved. Then, the displacement amount control unit 64 repeats the processing after S201 until the total displacement L reaches the target displacement amount La in S208.
Thus, according to this embodiment, since the rotating shaft 2 is arranged in parallel with the servomotor 1, the main body 11 is different from the case where the rotating shaft 2 is directly connected to the output shaft 9 of the servomotor 1. It is not so long and can be downsized.

また、本実施形態では、把持対象物を、把持部材の閉じ方向の移動および開き方向の移動のいずれによってでも把持することができる。その上、把持対象物を、把持部材の閉じ方向の移動および開き方向の移動のいずれで把持する場合でも、圧縮コイルばね２０，２１のばね力を把持力として作用させることができ、サーボモータ１を断電しても把持対象物の把持が解除される恐れはない。
また、本発実施形態では、回転軸２に沿って移動する直動部材３，４と把持部材５，６，７，８に連結される連結部材２８，２９，３０，３１との間に弾性部材５０を備えている。弾性部材５０は、直動部材３，４と連結部材２８，２９，３０，３１とが接近するとき圧縮され、直動部材３，４と連結部材２８，２９，３０，３１とが離間するとき伸長する。このように、直動部材３，４と連結部材２８，２９，３０，３１との間に弾性部材５０を設けることにより、把持部材５，６，７，８から把持対象物へ加わる力の一部は弾性部材５０の変形によって吸収される。したがって、把持対象物が破損しやすい場合でも、把持対象物を柔軟に把持することができる。 In the present embodiment, the object to be grasped can be grasped by either the movement in the closing direction or the movement in the opening direction of the grasping member. In addition, the spring force of the compression coil springs 20 and 21 can be applied as a gripping force regardless of whether the gripping object is gripped by either the closing direction movement or the opening direction movement of the gripping member. Even if the power is cut off, the gripping of the gripping object is not released.
Further, in the present embodiment, the elastic members are connected between the linear members 3 and 4 that move along the rotation shaft 2 and the connecting members 28, 29, 30, and 31 connected to the gripping members 5, 6, 7, and 8. A member 50 is provided. The elastic member 50 is compressed when the linear members 3 and 4 and the connecting members 28, 29, 30, and 31 approach each other, and when the linear members 3 and 4 and the connecting members 28, 29, 30, and 31 are separated from each other. Elongate. As described above, by providing the elastic member 50 between the linear motion members 3 and 4 and the connecting members 28, 29, 30, and 31, one of the forces applied to the gripping object from the gripping members 5, 6, 7, and 8. The part is absorbed by the deformation of the elastic member 50. Therefore, even when the gripping object is easily damaged, the gripping object can be gripped flexibly.

さらに、本実施形態では、直動部材３，４と連結部材２８，２９，３０，３１との間の相対的な移動距離を検出する変位量センサ６１を備えている。把持部材５，６，７，８の把持力は、弾性部材５０の変位に相関する。すなわち、把持部材５，６，７，８の把持力は、直動部材３，４と連結部材２８，２９，３０，３１との間に挟み込まれる弾性部材５０に加わる力と一致する。そのため、把持力は、弾性部材５０の変位量を検出することにより、弾性部材５０のばね定数に基づいて算出される。したがって、直動部材３，４と連結部材２８，２９，３０，３１との間に弾性部材５０を挟み込むことにより把持対象物の柔軟な把持を図りつつ、把持対象物に加わる把持力を正確に検出することができる。   Furthermore, in this embodiment, the displacement amount sensor 61 which detects the relative movement distance between the linearly-moving members 3 and 4 and the connection members 28, 29, 30, and 31 is provided. The gripping force of the gripping members 5, 6, 7, and 8 correlates with the displacement of the elastic member 50. That is, the gripping force of the gripping members 5, 6, 7, 8 matches the force applied to the elastic member 50 sandwiched between the linear motion members 3, 4 and the connecting members 28, 29, 30, 31. Therefore, the gripping force is calculated based on the spring constant of the elastic member 50 by detecting the displacement amount of the elastic member 50. Accordingly, by holding the elastic member 50 between the linear motion members 3 and 4 and the connecting members 28, 29, 30, and 31, the gripping force applied to the gripping object can be accurately determined while the gripping object is flexibly gripped. Can be detected.

なお、本発明は上記し且つ図面に示す実施形態に限定されるものではなく、以下のような拡張或いは変更が可能である。
駆動源としてのモータは、ステッピングモータであっても良い。
サーボモータ１から回転軸２へは、歯車伝動機構によって回転伝達する構成であっても良い。
圧縮コイルばねを一対の直動部材３，４間に介在させて直動部材３，４を互いに離間する方向に付勢し、直動部材３，４の離間方向の移動によって一対の把持部材を閉じ方向或いは開き方向に移動させて把持対象物を把持するようにしても良い。
スライダ２４，２５を省略し、直動部材３，４を第１の連結部材２８，２９或いは第２の連結部材３０，３１によって第１の把持部材５，６或いは第２の把持部材７，８に連結する構成としても良い。 The present invention is not limited to the embodiment described above and shown in the drawings, and can be expanded or changed as follows.
The motor as the drive source may be a stepping motor.
The servomotor 1 may be configured to transmit rotation to the rotating shaft 2 by a gear transmission mechanism.
A compression coil spring is interposed between the pair of linear motion members 3 and 4 to bias the linear motion members 3 and 4 away from each other, and the pair of gripping members are moved by the movement of the linear motion members 3 and 4 in the separation direction. The object to be grasped may be grasped by moving in the closing direction or the opening direction.
The sliders 24 and 25 are omitted, and the linear members 3 and 4 are connected to the first holding members 5 and 6 or the second holding members 7 and 8 by the first connecting members 28 and 29 or the second connecting members 30 and 31, respectively. It is good also as a structure connected to.

ばね部材としては、圧縮コイルばねに限られず、引張コイルばねを用いても良い。また、コイルばねに限られない。
電動ハンドの用途としては、ロボットに取り付けられるものに限られない。
また、弾性部材５０は、直動部材３，４と連結部材２８，２９，３０，３１との間であれば、いずれの位置に配置しても良い。 The spring member is not limited to a compression coil spring, and a tension coil spring may be used. Moreover, it is not restricted to a coil spring.
The use of the electric hand is not limited to that attached to the robot.
The elastic member 50 may be disposed at any position between the linear members 3 and 4 and the connecting members 28, 29, 30 and 31.

図面中、１はサーボモータ、２は回転軸、３，４は直動部材、５，６は把持部材、７，８は把持部材、１０はロータリエンコーダ１０（回転センサ）、１１は本体、１３はベルト伝動機構、１８は右ねじ、１９は左ねじ、２０，２１は圧縮コイルばね（ばね部材）、２２は案内部材、２４，２５はスライダ、２８，２９は連結部材、３０，３１は連結部材、５０は弾性部材、６１は変位量センサ、６３は把持力算出部、６４は変位量制御部を示す。   In the drawings, 1 is a servo motor, 2 is a rotating shaft, 3 and 4 are linear motion members, 5 and 6 are gripping members, 7 and 8 are gripping members, 10 is a rotary encoder 10 (rotation sensor), 11 is a main body, 13 Is a belt transmission mechanism, 18 is a right screw, 19 is a left screw, 20 and 21 are compression coil springs (spring members), 22 is a guide member, 24 and 25 are sliders, 28 and 29 are connecting members, and 30 and 31 are connected. Reference numeral 50 denotes an elastic member, 61 denotes a displacement amount sensor, 63 denotes a gripping force calculation unit, and 64 denotes a displacement amount control unit.

Claims (2)

ハンド本体に設けられたモータの回転を一対の把持部材の開閉動作に変換して把持対象物を把持する電動ハンドにおいて、
前記ハンド本体に、前記モータの出力軸と平行となるように回転可能に設けられ、外周に右ねじおよび左ねじを形成した回転軸と、
前記モータの前記出力軸の回転を前記回転軸に伝達する伝動機構と、
前記回転軸の前記右ねじおよび前記左ねじにそれぞれ螺合するねじ手段を有し、前記回転軸の一方向の回転および前記一方向とは逆の他方向の回転に伴って互いに接近する方向および互いに離間する方向に移動する一対の直動部材と、
前記一対の直動部材を互いに接近する方向および互いに離間する方向のうちのいずれか一方の方向に付勢するばね部材と、
前記一対の直動部材の一方および他方を、前記一対の把持部材に対して、連結先変更可能に連結する連結手段と、
前記直動部材と前記連結手段との間に設けられ、前記直動部材と前記連結部材との接近によって圧縮され、前記直動部材と前記連結部材との離間によって伸長する弾性部材と、
前記直動部材と前記連結手段との間の相対的な移動距離に基づいて、前記弾性部材の変位量を検出する変位量センサと、
を備えることを特徴とする電動ハンド。 In an electric hand that grips an object to be gripped by converting the rotation of a motor provided in the hand body into an opening / closing operation of a pair of gripping members,
The hand body is rotatably provided so as to be parallel to the output shaft of the motor, and a rotation shaft having a right screw and a left screw formed on the outer periphery,
A transmission mechanism for transmitting rotation of the output shaft of the motor to the rotating shaft;
Screw means for screwing into the right screw and the left screw of the rotating shaft, respectively, and a direction approaching each other with rotation in one direction of the rotating shaft and rotation in the other direction opposite to the one direction; A pair of linear motion members that move away from each other;
A spring member that urges the pair of linear motion members in any one of a direction approaching and a distance from each other;
A coupling means for coupling one and the other of the pair of linear motion members to the pair of gripping members so that the coupling destination can be changed;
An elastic member provided between the linear motion member and the coupling means, compressed by the proximity of the linear motion member and the coupling member, and extended by the separation of the linear motion member and the coupling member;
A displacement amount sensor for detecting a displacement amount of the elastic member based on a relative movement distance between the linear motion member and the connecting means;
An electric hand comprising: 前記モータの回転位置を検出する回転センサと、
前記変位量センサで検出した前記弾性部材の変位量に基づいて前記把持部材による把持対象物の把持力を算出する把持力算出手段と、
前記回転センサで検出した前記モータの回転位置、および前記変位量センサで検出した前記弾性部材の変位量に基づいて、前記モータの回転位置を制御して前記把持部材の変位量を制御する変位量制御手段と、
をさらに備えることを特徴とする請求項１記載の電動ハンド。 A rotation sensor for detecting a rotation position of the motor;
Gripping force calculating means for calculating the gripping force of the gripping object by the gripping member based on the displacement amount of the elastic member detected by the displacement amount sensor;
A displacement amount for controlling the displacement amount of the gripping member by controlling the rotation position of the motor based on the rotation position of the motor detected by the rotation sensor and the displacement amount of the elastic member detected by the displacement amount sensor. Control means;
The electric hand according to claim 1, further comprising:
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CN103568015B (en) * 2012-07-25 2015-04-15 发那科株式会社 Force-controlled electric hand
CN103568015A (en) * 2012-07-25 2014-02-12 发那科株式会社 Force-controlled electric hand
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JP2018137958A (en) * 2017-02-23 2018-08-30 日本電産コパル株式会社 Movement mechanism
JP2018135991A (en) * 2017-02-23 2018-08-30 日本電産コパル株式会社 Moving mechanism
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