JP2014094445A - Holding device and robot device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a holding device which has a simple structure and holds a holing object with an accurate holding force and holds the objects at the same position.SOLUTION: A holding device body 101 comprises: a rotary member 118 which rotates in conjunction with rotations of a gear 104; and a rotary member 119 which is coaxially disposed with the rotary member 118 and is integrally formed with a cam member 105. The holding device body 101 includes elastic members 114to 114which connect the rotary member 118 with the rotary member 119 and transmit rotary motion of the rotary member 118 to the rotary member 119. A magnetic flux generating source 115 and a magnetoelectric conversion element 116 are respectively provided at the rotary member 118 and the rotary member 119. The structure enables the elastic deformation volume of the elastic member 114to 114, which results from rotations of the rotary member 118 relative to the rotary member 119, to be detected.

Description

  The present invention relates to a gripping device that grips an object by moving a plurality of gripping claws to each other, and a robot apparatus including the gripping device.

  The gripping device has a plurality of gripping claws and is used, for example, in an assembly device for assembling components. The gripping device is attached to an articulated robot, grips an object, and performs transportation and assembly. An electric actuator such as a stepping motor or a servo motor is used to drive these gripping claws. The rotary motion obtained from the actuator is converted into a linear motion via a power transmission mechanism such as a rack gear, a cam, or a ball screw, thereby moving a plurality of gripping claws to grip an object.

  In a conventional gripping device, when gripping an object that is a gripping object with a predetermined gripping force, for example, in a gripping device using a servo motor, the gripping force is controlled by controlling the current that drives the motor to a predetermined value. The method of control was common.

  However, since this method does not directly detect the gripping force, even when the current is controlled to a predetermined value when the work is repeatedly performed due to the influence of the friction of the power transmission mechanism, the same gripping is stably performed. It was difficult to exert power. Furthermore, when used for a long time, the friction of the power transmission mechanism may change and increase with time. For this reason, the relationship between the drive current of the actuator and the gripping force has changed from the initial value, and it has been difficult to accurately control the gripping force for a long period of time.

  As a countermeasure for solving this problem, there is a method of mounting a force sensor on the gripping nail and measuring the gripping force applied to the gripping nail.

  However, since the force sensor detects displacement and strain of the gripping claw due to the gripping force applied to the gripping claw, it is difficult to make the gripping claw with high rigidity. For this reason, if the gripping claw is formed with a member that is elastically deformed to such an extent that the force sensor can detect the displacement, the displacement amount for each gripping force when the object is gripped varies due to the rigidity variation of each gripping claw. This causes a problem that the object cannot always be gripped at the same position.

  To solve this problem, the two gripping claws are driven by different motors, the gripping force is controlled by one gripping claw equipped with a force sensor, and the gripping position of the object is determined by the other gripping claw. (See Patent Document 1).

JP-A-5-8188

  However, in the method of Patent Document 1, at least two actuators are required to independently drive the gripping claw for controlling the gripping force and the gripping claw for positioning the gripped object. Moreover, not only is the structure complicated, but the weight of the gripping device increases, resulting in problems such as an increase in size and cost of the gripping device.

  Moreover, since it is necessary to incorporate a force sensor in the gripping claw, it is necessary to provide a capacity for incorporating the force sensor in the gripping claw. Therefore, when designing a gripping claw, the size and shape of the gripping claw are restricted by a built-in force sensor. This is a big obstacle when trying to assemble a large number of processes with one gripping device in order to reduce the size of the robot apparatus.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a gripping apparatus and a robot apparatus that can grip a target object with a simple configuration and an accurate gripping force and that can grip an object at the same position. And

  A gripping device according to the present invention includes a plurality of gripping claws capable of gripping and releasing a gripping object by an opening / closing operation, a rotation driving unit that rotationally drives a rotation shaft, and a first rotation that rotates in conjunction with the rotation of the rotation shaft. The first rotating member, the second rotating member arranged coaxially with the first rotating member, the first rotating member and the second rotating member are connected, and the second rotating member is rotated by the second rotating member. An elastic member that transmits to the rotating member, a conversion mechanism that converts the rotational movement of the second rotating member into an opening / closing operation of the plurality of gripping claws, and relative rotation of the first rotating member with respect to the second rotating member. And a detector for detecting the amount of elastic deformation of the elastic member.

  According to the present invention, when the rotation driving unit moves the gripping claws to each other and grips the gripping object, the elastic member is elastically deformed by the amount of elastic deformation corresponding to the gripping force, and the second rotation The first rotating member rotates relative to the member. The gripping force can be obtained by the detection unit detecting the amount of elastic deformation of the elastic member at this time. Accordingly, since it is not necessary to detect the elastic deformation amount of the gripping claw in order to obtain the gripping force, it is not necessary to incorporate a force sensor such as a strain gauge in the gripping claw. Furthermore, since the rigidity of the gripping claws can be increased, variation in the bending of each gripping claws can be suppressed, and variation in the position of the gripping object when the gripping object is gripped can be suppressed. . Therefore, unlike the prior art, it is not necessary to drive each gripping claw independently, and the apparatus can be reduced in size and weight.

It is explanatory drawing which shows schematic structure of the robot apparatus which concerns on 1st Embodiment. It is sectional drawing which shows the holding | maintenance apparatus main body of the holding | gripping apparatus which concerns on 1st Embodiment. It is sectional drawing of the holding | gripping apparatus main body which follows the AA line of FIG. It is explanatory drawing which shows the principal part of a holding | grip apparatus main body when a workpiece | work is hold | gripped with a holding nail. It is explanatory drawing which shows the control action of a controller. It is sectional drawing which shows the holding device main body of the holding device which concerns on 2nd Embodiment. It is sectional drawing of the holding | gripping apparatus main body which follows the BB line of FIG. It is explanatory drawing which shows the principal part of a holding | grip apparatus main body when a workpiece | work is hold | gripped with a holding nail. It is sectional drawing which shows the holding apparatus main body of the holding apparatus which concerns on 3rd Embodiment. It is sectional drawing of the holding | gripping apparatus main body which follows the CC line of FIG. It is explanatory drawing which shows the principal part of a holding | grip apparatus main body when a workpiece | work is hold | gripped with a holding nail. It is explanatory drawing which shows the principal part of the holding | grip apparatus main body of the holding | gripping apparatus which concerns on 4th Embodiment. It is explanatory drawing which shows the principal part of the holding | grip apparatus main body of the holding | grip apparatus which concerns on 5th Embodiment. It is explanatory drawing which shows the principal part of the holding | grip apparatus main body of the holding | gripping apparatus which concerns on 6th Embodiment.

  Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings.

[First Embodiment]
FIG. 1 is an explanatory diagram showing a schematic configuration of the robot apparatus according to the first embodiment of the present invention. The robot apparatus 500 includes a robot arm 600 that is an articulated robot, and a gripping apparatus 100 attached to a tip 600A of the robot arm 600. The robot arm 600 has a plurality of link members connected by joints, and a base end is fixed to the base.

  The gripping device 100 includes a gripping device main body 101 and a controller 401 as a control unit built in the gripping device main body 101, and the controller 401 is based on an instruction from the main controller 450. Control the behavior.

  FIG. 2 is a cross-sectional view showing a gripping device main body of the gripping device according to the first embodiment of the present invention, and FIG. 3 is a cross-sectional view of the gripping device main body taken along line AA in FIG.

As shown in FIG. 2, the gripping device main body 101 includes a housing 113 and a plurality of (two in the first embodiment) capable of gripping and releasing the workpiece W (FIG. 1) that is a gripping object by opening and closing operations. ) Holding claws 112 ₁ and 112 ₂ . The gripping device main body 101 includes a rotating shaft 103, a motor 102 with a reduction gear as a rotation driving unit that drives the rotating shaft 103 to open and close to open and close the gripping claws 112 ₁ and 112 _2, and rotational movement of the motor 102. And a conversion mechanism 120 that converts the motion into a linear motion.

The conversion mechanism 120 has two movable bases 107 ₁ and 107 ₂ , two shaft members 108 ₁ and 108 ₂ , two cylindrical cam followers 109 ₁ and 109 ₂ , a cam member 105, and a rail 110. doing.

Movable bases 107 ₁ and 107 ₂ are fastened to the base ends of the gripping claws 112 ₁ and 112 ₂ , respectively, and shaft members 108 ₁ and 108 ₂ are fixed to the movable bases 107 ₁ and 107 ₂ , respectively. Cam followers 109 ₁ and 109 ₂ are press-fitted into the shaft members 108 ₁ and 108 ₂ , respectively.

The cam member 105 has a disk shape, and a rotation shaft 117 is fixed at the center. As shown in FIG. 3, the cam member 105 has two arc-shaped cam grooves 106 ₁ , 109 ₁ , 109 ₂ (that is, shaft members 108 ₁ , 108 ₂ ) that are slidably fitted. 106 ₂ is formed. As shown in FIG. 2, a bearing 111 is provided on the outer periphery of the rotating shaft 117, and the cam member 105 is rotatably supported by the housing 113 via the bearing 111.

  A rotating shaft 103 connected to the motor 102 is provided with a gear 104. As shown in FIG. 3, a rotating member 118 as a first rotating member on which external teeth meshing with the gear 104 are formed is a housing. 113. The rotating member 118 is rotated in conjunction with the rotation of the rotating shaft 103 by transmitting the rotating motion of the rotating shaft 103 driven to rotate by the motor 102 via the gear 104.

  The rotating member 118 is formed in a ring shape, and a rotating member 119 as a second rotating member is formed on the inner side of the rotating member 118 so as to be coaxial with the rotating member 118 and formed integrally with the cam member 105. Is provided. Specifically, a rotating member 119 is integrally formed on the outer periphery of the cam member 105. Thereby, the cam member 105 rotates integrally with the rotating member 119 around the rotating shaft 117 (FIG. 2).

The inner peripheral surface of the rotating member 118 and the outer peripheral surface of the rotating member 119 are connected by a plurality (four in this embodiment) of elastic members 114 ₁ , 114 ₂ , 114 ₃ , 114 ₄ . The rotational motion of the rotating member 118 is transmitted to the rotating member 119 via these elastic members 114 _{1 to} 114 ₄ . These elastic members 114 _{1 to} 114 ₄ are arranged at equal intervals in the circumferential direction of the rotating members 118 and 119. These elastic members 114 _{1 to} 114 ₄ are rigid to be elastically deformed with an elastic deformation amount corresponding to the gripping force when the workpiece W is gripped by the gripping claws 112 ₁ and 112 ₂ .

That is, the elastic members 114 _{1 to} 114 ₄ are formed so as to cause elastic deformation in the rotational direction of the rotating member 118 relative to the rotating member 119, that is, the twisting direction, by the driving force generated by the motor 102.

Here, the gripping claws ₁₁₂ 1, 112 _2, as the elastic member ₁₁₄ 1-114 ₄ when gripping the workpiece W is elastically deformed, and is formed with a high rigidity of the rigid than the elastic member ₁₁₄ 1-114 ₄ Yes. Accordingly, the gripping claws ₁₁₂ 1, 112 ₂ that was formed by the member having a high rigidity, the gripping claws ₁₁₂ 1, 112 ₂ are not bent almost upon gripping the workpiece W, also amount deflection as bent Since the (elastic deformation amount) is small, variation in bending is suppressed. Accordingly, the gripping claws 112 _1, 112 ₂ can be suppressed position of the workpiece W when gripping the workpiece W (coordinates) that varies, as in the prior art, without driving each gripping claws independently In other words, the gripping device 100 can be reduced in size and weight.

In the present embodiment, the elastic members 114 _{1 to} 114 ₄ are formed in a leaf spring shape, but the shape is not limited to this shape, and the shape may not be a leaf spring shape as long as twisting occurs. Also, the number of the elastic members ₁₁₄ 1 to 114 ₄ is not limited to four, three or more (at least three), i.e. if more is.

With the above configuration rotation by the motor 102 is driven to rotate the rotary shaft 103, the rotary member 118 is rotated to mesh with the gear 104, the rotational movement of the rotary member 118 via the elastic member ₁₁₄ 1-114 ₄ This is transmitted to the cam member 105 integrated with the member 119. As a result, the cam member 105 rotates about the rotation shaft 117.

As the cam member 105 rotates, cam followers 109 ₁ and 109 ₂ attached to shaft members 108 ₁ and 108 ₂ extending from the movable bases 107 ₁ and 107 ₂ are cam grooves 106 formed in the cam member 105, respectively. _1, 106 ₂ slides along the. As a result, the movable bases 107 ₁ and 107 ₂ slide linearly along the rail 110, and the gripping claws 112 ₁ and 112 ₂ attached to the movable bases 107 ₁ and 107 ₂ are in the ± X1 and ± X2 directions, respectively. It moves linearly, and the workpiece W can be gripped and released. As described above, the conversion mechanism 120 converts the rotational motion of the rotating member 119 into a linear motion, and opens and closes the plurality of gripping claws 112 ₁ and 112 ₂ .

  In the first embodiment, the gripping device main body 101 includes a detection unit 125 having a magnetic flux generation source 115 such as a permanent magnet and a magnetoelectric conversion element 116 such as a Hall element, as shown in FIG. The magnetic flux generation source 115 is provided on one of the rotating members 118 and 119, on the inner peripheral surface of the rotating member 118 in the first embodiment. In addition, the magnetoelectric conversion element 116 is provided on the outer peripheral surface of the rotation member 119 of the rotation member 118 or 119 in the first embodiment. The magnetic flux generation source 115 and the magnetoelectric conversion element 116 face each other when there is no relative rotation between the rotating member 118 and the rotating member 119.

An elastic member ₁₁₄ 1-114 ₄ To the resulting twisted direction of the elastic deformation, when the relative rotation between the rotary member 119 and the rotating member 118 has occurred between the magnetic flux generator 115 and electromagnetic conversion element 116 A relative displacement occurs, and the magnetic flux density passing through the magnetoelectric conversion element 116 changes.

Accordingly, the magnetoelectric conversion element 116 generates a voltage proportional to the amount of elastic deformation generated in the elastic members 114 _{1 to} 114 ₄ , that is, the relative rotation angle (rotation amount) of the rotating member 118 with respect to the rotating member 119 in FIG. To the controller 401 shown. As described above, the detection unit 125 is configured to rotate the rotating member 118 relative to the rotating member 119 due to the elastic deformation amount of the torsional direction generated in the elastic members 114 _{1 to} 114 ₄ , that is, the elastic deformation of the elastic members 114 _{1 to} 114 _4. Detect the amount.

  In the first embodiment, the magnetic flux generating source 115 is provided on the inner peripheral surface of the rotating member 118 and the magnetoelectric conversion element 116 is provided on the outer peripheral surface of the rotating member 119. However, the present invention is not limited to this, and the magnetic flux generating source 115 is provided on the rotating member 119. Alternatively, the magnetoelectric conversion element 116 may be provided on the inner peripheral surface of the rotating member 118.

Figure 4 is an explanatory view showing an essential part of the gripping device main body 101 when in the gripping claws ₁₁₂ 1, 112 ₂ to hold the workpiece W, respectively dashed line C1 and the one-dot chain line C2 in Figure 4, magnetic flux generator 115 And the center line of the magnetoelectric conversion element 116 is shown.

When allowed to hold the workpiece W by the gripping claws ₁₁₂ 1, 112 ₂ are moved together, by gripping claws ₁₁₂ 1, 112 ₂ contacts the workpiece W, the gripping claws ₁₁₂ 1, 112 ₂ will cease to move any further, The rotation of the cam member 105, that is, the rotation of the rotating member 119 is stopped. However, since the motor 102 generates a driving force to rotate the cam member 105, the elastic members 114 _{1 to} 114 ₄ are elastically deformed in the torsional direction as shown in FIG. Rotates relative to 119. At this time, due to elastic deformation, a relative displacement E is generated between the magnetic flux generation source 115 and the magnetoelectric conversion element 116, and the magnetoelectric conversion element 116 outputs a voltage proportional to the amount of displacement, whereby the elastic members 114 _{1 to} 114 are output. ₄ detects the amount of elastic deformation in the torsional direction generated in FIG.

FIG. 5 is an explanatory diagram showing the control operation of the controller 401. The controller 401 receives the detection result of the detection unit 125, that is, the output voltage of the magnetoelectric conversion element 116, and converts the value of the output voltage into the gripping force of the workpiece W by the gripping claws 112 ₁ and 112 ₂ . The controller 401 receives the input of the target gripping force from the main controller 450, calculates the difference between the calculated gripping force and the target gripping force, and is necessary for setting the motor 102 to the target gripping force based on this difference. The current value is calculated and the drive current is supplied to the motor 102. Thus, the controller 401, the gripping force of the gripping claws ₁₁₂ 1, 112 ₂ controls the motor 102 so that the target clamping force.

As described above, according to the first embodiment, the motor 102 causes the movement of the gripping claws ₁₁₂ 1, 112 ₂ together, when gripping the workpiece W by the gripping claws ₁₁₂ 1, 112 _2, the elastic deformation corresponding to the gripping force The elastic members 114 _{1 to} 114 ₄ are elastically deformed in the twisting direction. By detecting the detection portion 125 of the elastic deformation amount, the controller 401 can determine an accurate gripping force can be accurately target gripping force gripping forces by the gripping claws 112 _1, 112 _2. As a result, it is not necessary to detect the amount of elastic deformation of the gripping claws in order to obtain the gripping force as in the prior art, and therefore it is not necessary to incorporate force sensors such as strain gauges in the gripping claws 112 ₁ and 112 ₂ . Therefore, the holding claws 112 ₁ and 112 ₂ can be freely designed without restricting the size and shape of the holding claws 112 ₁ and 112 ₂ .

Also, a small difference in rigidity between the gripping claws ₁₁₂ 1, 112 ₂ and the gripping claws ₁₁₂ 1, 112 ₂ to the transmission path for transmitting the force. For this reason, it is possible to grip at the same gripping position even with different gripping forces, and there is no need for a separate rotation drive unit for determining the gripping position, and the gripping claws 112 ₁ and 112 ₂ can be driven by the same motor 102. The apparatus can be reduced in size and weight. As described above, since the gripping device 100 is reduced in size and weight, the operation of the robot arm 600 is stabilized, and all operations such as assembly work are facilitated.

  Furthermore, since the magnetic flux generation source 115 and the magnetoelectric conversion element 116 can be arranged at positions away from the rotation shaft 117 of the cam member 105, a larger displacement can be obtained and a higher resolution of gripping force detection can be obtained. .

[Second Embodiment]
Next, a gripping device according to a second embodiment of the present invention will be described. FIG. 6 is a cross-sectional view showing a gripping device main body of the gripping device according to the second embodiment of the present invention, and FIG. 7 is a cross-sectional view of the gripping device main body taken along line BB in FIG.

  In the second embodiment, the gripping device includes a gripping device main body 201 and a controller 401 (see FIG. 1) as a control unit, as in the first embodiment.

As shown in FIG. 6, the gripping device main body 201 includes a housing 213 and a plurality of (two in the second embodiment) that can grip and release the workpiece W (FIG. 1) that is a gripping object. ) Gripping claws 212 ₁ , 212 ₂ . The gripping device main body 201 includes a rotating shaft 203, a motor 202 with a speed reducer as a rotation driving unit that opens and closes the gripping claws 212 ₁ and 212 ₂ by rotationally driving the rotating shaft 203, and rotational motion of the motor 202. And a conversion mechanism 220 for converting into a linear motion.

The conversion mechanism 220 includes two movable stands 207 ₁ and 207 ₂ , two shaft members 208 ₁ and 208 ₂ , two cylindrical cam followers 209 ₁ and 209 ₂ , a cam member 205, and a rail 210. doing.

Movable bases 207 ₁ and 207 ₂ are fastened to the base ends of the gripping claws 212 ₁ and 212 ₂ , respectively, and shaft members 208 ₁ and 208 ₂ are fixed to the movable bases 207 ₁ and 207 ₂ , respectively. Cam followers 209 ₁ and 209 ₂ are press-fitted into the shaft members 208 ₁ and 208 ₂ , respectively.

The cam member 205 is formed in a ring shape. As shown in FIG. 7, the cam member 205 has two arc-shaped cam grooves 206 ₁ , 209 ₁ , 209 ₂ (that is, shaft members 208 ₁ , 208 ₂ ) that are slidably fitted. 206 ₂ is formed. As shown in FIGS. 6 and 7, a bearing 211 is provided on the outer periphery of the cam member 205, and the cam member 205 is rotatably supported by the housing 213 via the bearing 211.

  As shown in FIG. 7, a rotating member 218 as a first rotating member is fixed to the rotating shaft 203 connected to the motor 202. The rotating member 218 is directly transmitted with the rotational motion of the rotating shaft 203 driven to rotate by the motor 202 and rotates in conjunction with the rotation of the rotating shaft 203.

  The rotating member 218 is formed in a ring shape. A rotating shaft 203 is fitted inside the rotating member 218, and a rotating member 219 as a second rotating member is formed on the outside of the rotating member 218 so as to be coaxial with the rotating member 218 and formed integrally with the cam member 205. Is provided. Specifically, a rotating member 219 is integrally formed on the inner periphery of the cam member 205. As a result, the cam member 205 rotates integrally with the rotation member 219 around the rotation shaft 203.

The outer peripheral surface and the inner peripheral surface of the rotary member 219 of the rotary member 218, a plurality (in this embodiment, four) are connected by elastic members _{214 1,} 214 _2, 214 3, 214 _4. The rotational motion of the rotating member 218 is transmitted to the rotating member 219 via these elastic members 214 _{1 to} 214 ₄ . These elastic members ₂₁₄ 1 to 214 ₄ are arranged at equal intervals in the circumferential direction of the rotary member 218 and 219. These elastic members ₂₁₄ 1 to 214 ₄ is of rigid elastically deformed by an elastic deformation amount corresponding to the gripping force when the gripping claws ₂₁₂ 1, 212 ₂ to hold the workpiece W.

That is, the elastic member ₂₁₄ 1-214 _4, by the driving force motor 202 caused, the rotation direction of the rotary member 218 with respect to the rotary member 219 is formed so as to cause elastic deformation i.e. twist direction.

Here, the gripping claws ₂₁₂ 1, 212 _2, as the elastic member ₂₁₄ 1-214 ₄ when gripping the workpiece W is elastically deformed, and is formed with a high rigidity of the rigid than the elastic member ₂₁₄ 1-214 ₄ Yes. As a result, the gripping claws 212 ₁ and 212 ₂ are formed of a highly rigid member, so that the gripping claws 212 ₁ and 212 ₂ hardly bend when gripping the workpiece W, and even if they are bent, the bending amount Since the (elastic deformation amount) is small, variation in bending is suppressed. Therefore, the position (coordinates) of the workpiece W when the workpiece W is gripped by the gripping claws 212 ₁ and 212 ₂ can be suppressed, and each gripping claw can be driven independently as in the prior art. In addition, the gripping device can be reduced in size and weight.

In this embodiment, the elastic members 214 _{1 to} 214 ₄ are formed in a leaf spring shape, but the shape is not limited to this shape, and the shape may not be a leaf spring shape as long as twisting occurs. Also, the number of the elastic members ₂₁₄ 1 to 214 ₄ is not limited to four, three or more (at least three), i.e. if more is.

With the above arrangement, since the motor 202 is driven to rotate the rotary shaft 203, the rotary member 218 is rotated, the rotational movement of the rotary member 218, and together with the rotating member 219 via the elastic member ₂₁₄ 1-214 ₄ It is transmitted to the cam member 205. As a result, the cam member 205 rotates around the rotation shaft 203.

As the cam member 205 rotates, the cam followers 209 ₁ and 209 ₂ attached to the shaft members 208 ₁ and 208 ₂ extending from the movable bases 207 ₁ and 207 ₂ are cam grooves 206 formed in the cam member 205, respectively. ₁ , 206 ₂ . Accordingly, the movable bases 207 ₁ and 207 ₂ slide linearly along the rail 210, and the gripping claws 212 ₁ and 212 ₂ attached to the movable bases 207 ₁ and 207 ₂ are in the ± X1 and ± X2 directions, respectively. It moves linearly, and the workpiece W can be gripped and released. Thus, the conversion mechanism 220 converts the rotational motion of the rotating member 219 into a linear motion, and opens and closes the plurality of gripping claws 212 ₁ and 212 ₂ .

  In the second embodiment, the gripping device main body 201 includes a detection unit 225 having a magnetic flux generation source 215 such as a permanent magnet and a magnetoelectric conversion element 216 such as a Hall element, as shown in FIG. The magnetic flux generation source 215 is provided on one of the rotating members 218 and 219, that is, on the inner peripheral surface of the rotating member 219 in the second embodiment. The magnetoelectric conversion element 216 is provided on the outer peripheral surface of the rotating member 218 in the second rotating member of the rotating members 218 and 219, in the second embodiment. The magnetic flux generation source 215 and the magnetoelectric conversion element 216 face each other when there is no relative rotation between the rotating member 218 and the rotating member 219.

An elastic member ₂₁₄ 1-214 ₄ To the resulting twisted direction of the elastic deformation, when the relative rotation between the rotary member 219 and the rotating member 218 has occurred between the magnetic flux generator 215 and electromagnetic conversion element 216 A relative displacement occurs, and the magnetic flux density passing through the magnetoelectric conversion element 216 changes.

Thus, magneto-electric transducer 216, elastic deformation occurring in the elastic member ₂₁₄ 1-214 _4, i.e. a voltage proportional to the relative rotation angle of the rotary member 218 (amount of rotation) with respect to the rotary member 219, the controller 401 ( (See FIG. 1). Thus, the detection unit 225, the elastic member ₂₁₄ 1-214 ₄ To the resulting twisted direction of the elastic deformation, i.e. the relative rotation of the rotary member 218 with respect to the rotary member 219 due to elastic deformation of the elastic member ₂₁₄ 1-214 ₄ Detect the amount.

  In the second embodiment, the magnetic flux generating source 215 is provided on the inner peripheral surface of the rotating member 219 and the magnetoelectric conversion element 216 is provided on the outer peripheral surface of the rotating member 218. However, the present invention is not limited to this, and the magnetic flux generating source 215 is provided on the rotating member 218. Alternatively, the magnetoelectric conversion element 216 may be provided on the inner peripheral surface of the rotating member 219.

FIG. 8 is an explanatory view showing the main part of the gripping device main body 201 when the workpiece W is gripped by the gripping claws 212 ₁ , 212 ₂ , and the one-dot chain line C 21 and the one-dot chain line C 22 in FIG. The center line of the magnetoelectric conversion element 216 is shown.

When the gripping claws 212 ₁ , 212 ₂ are moved relative to each other to grip the workpiece W, the gripping claws 212 ₁ , 212 ₂ come into contact with the workpiece W, so that the gripping claws 212 ₁ , 212 ₂ do not move any more, The rotation of the cam member 205, that is, the rotation of the rotating member 219 is stopped. However, since the motor 202 generates a driving force tends to rotate the cam member 205, as shown in FIG. 8, the elastic deformation occurs in the torsional direction in the elastic member ₂₁₄ 1-214 _4, the rotation member 218 is rotated member Rotate relative to 219. At this time, due to elastic deformation, a relative displacement F is generated between the magnetic flux generation source 215 and the magnetoelectric conversion element 216, and the magnetoelectric conversion element 216 outputs a voltage proportional to the amount of displacement, whereby elastic members 214 _{1 to} 214 are output. ₄ detects the amount of elastic deformation in the torsional direction generated in FIG. Accordingly, the controller 401 (see FIG. 1) can control the gripping force.

As described above, according to the second embodiment, when the motor 202 moves the gripping claws 212 ₁ , 212 ₂ to each other and grips the workpiece W with the gripping claws 212 ₁ , 212 ₂ , the elastic deformation corresponding to the gripping force. elastic members ₂₁₄ 1 to 214 ₄ in the twisting direction of the elastic deformation occurs in the amount. By detecting the detection portion 225 of the elastic deformation amount, the controller 401 (see FIG. 1) can be obtained an accurate gripping force, precisely to the target clamping force gripping forces by the gripping claws 212 _1, 212 ₂ be able to. As a result, it is not necessary to detect the amount of elastic deformation of the gripping claws in order to obtain the gripping force as in the prior art, and therefore it is not necessary to incorporate force sensors such as strain gauges in the gripping claws 212 ₁ and 212 ₂ . Therefore, the holding claws 212 ₁ and 212 ₂ can be freely designed without restricting the size and shape of the holding claws 212 ₁ and 212 ₂ .

Further, there is little difference in rigidity of the transmission path for transmitting the force to the gripping claws 212 ₁ and 212 ₂ and the gripping claws 212 ₁ and 212 ₂ . For this reason, it is possible to grip at the same gripping position even with different gripping forces, and there is no need for a separate rotation drive unit for determining the gripping position, and the gripping claws 212 ₁ and 212 ₂ can be driven by the same motor 202. The apparatus can be reduced in size and weight. As described above, since the gripping device is reduced in size and weight, the operation of the robot arm is stabilized and all operations such as assembling work are facilitated.

[Third Embodiment]
Next, a gripping device according to a third embodiment of the present invention will be described. FIG. 9 is a cross-sectional view showing a gripping device main body of the gripping device according to the third embodiment of the present invention, and FIG. 10 is a cross-sectional view of the gripping device main body taken along line CC in FIG. FIG. 11 is an explanatory diagram showing a main part of the gripping device main body when the workpiece is gripped by the gripping claws.

  In the first and second embodiments, the case where the conversion mechanism is configured to have a cam member formed with a cam groove and a cam follower that fits into the cam groove of the cam member has been described, but the third embodiment is described. Now, a case where the conversion mechanism is a rack and pinion mechanism will be described.

  In the third embodiment, the gripping device includes a gripping device main body 301 and a controller 401 (see FIG. 1) as a control unit, as in the first embodiment.

As shown in FIG. 9, the gripping device main body 301 includes a housing 313 and a plurality of (two in the third embodiment) capable of gripping and releasing the workpiece W (FIG. 1) that is a gripping object. ) Holding claws 312 ₁ and 312 ₂ . Further, the gripping device main body 301 includes a rotation shaft 303, a motor 302 with a speed reducer as a rotation drive unit that drives the rotation of the rotation shaft 303 to open and close the gripping claws 312 ₁ and 312 _2, and rotational movement of the motor 302. And a conversion mechanism 320 for converting the motion into a linear motion.

The conversion mechanism 320 includes two movable stands 307 ₁ , 307 ₂ , two rack gears 309 ₁ , 309 ₂ , two rails 310 ₁ , 310 _2, and a pinion gear 306. Movable bases 307 ₁ and 307 ₂ are fastened to the base ends of the gripping claws 312 ₁ and 312 ₂ , respectively, and rack gears 309 ₁ and 309 ₂ are fixed to the movable bases 307 ₁ and 307 ₂ , respectively. The rack gears 309 ₁ and 309 ₂ mesh with the pinion gear 306.

  A rotating shaft 303 connected to the motor 302 is provided with a gear 304, and as shown in FIG. 10, a rotating member 318 as a first rotating member on which external teeth meshing with the gear 304 are formed is a housing. 313. The rotating member 318 is rotated in conjunction with the rotation of the rotating shaft 303 by transmitting the rotating motion of the rotating shaft 303 driven by the motor 302 via the gear 304.

  The rotating member 318 is formed in a ring shape, and a rotating member 319 as a second rotating member disposed coaxially with the rotating member 318 is provided inside the rotating member 318.

  The rotating member 319 has a disk shape, and a rotating shaft 317 is fixed at the center. A bearing 311 is provided on the outer periphery of the rotating shaft 317, and the rotating member 319 is rotatably supported by the housing 313 via the bearing 311.

  The pinion gear 306 is fixed to the rotation member 319 coaxially with the rotation member 319 and rotates integrally with the rotation member 319 around the rotation shaft 317.

The inner peripheral surface of the rotating member 318 and the outer peripheral surface of the rotating member 319 are connected by a plurality of (four in this embodiment) elastic members 314 ₁ , 314 ₂ , 314 ₃ , and 314 ₄ . The rotational motion of the rotating member 318 is transmitted to the rotating member 319 via these elastic members 314 _{1 to} 314 ₄ . These elastic members 314 _{1 to} 314 ₄ are arranged at equal intervals in the circumferential direction of the rotating members 318 and 319. These elastic members 314 _{1 to} 314 ₄ are rigid to be elastically deformed with an elastic deformation amount corresponding to the gripping force when the workpiece W is gripped by the gripping claws 312 ₁ and 312 ₂ .

That is, the elastic members 314 _{1 to} 314 ₄ are formed so as to cause elastic deformation in the rotational direction of the rotating member 318 relative to the rotating member 319, that is, the twisting direction, by the driving force generated by the motor 302.

Here, the gripping claws ₃₁₂ 1, 312 _2, as the elastic member ₃₁₄ 1-314 ₄ when gripping the workpiece W is elastically deformed, and is formed with a high rigidity of the rigid than the elastic member ₃₁₄ 1-314 ₄ Yes. Accordingly, the gripping claws ₃₁₂ 1, 312 ₂ that was formed by the member having a high rigidity, the gripping claws ₃₁₂ 1, 312 ₂ are not bent almost upon gripping the workpiece W, also amount deflection as bent Since the (elastic deformation amount) is small, variation in bending is suppressed. Therefore, the position (coordinates) of the workpiece W when the workpiece W is gripped by the gripping claws 312 ₁ and 312 ₂ can be suppressed, and the gripping claws can be driven independently as in the prior art. In addition, the gripping device can be reduced in size and weight.

In the present embodiment, the elastic members 314 _{1 to} 314 ₄ are formed in a leaf spring shape, but the shape is not limited to this shape, and the shape may not be a leaf spring shape as long as twisting occurs. Also, the number of the elastic members ₃₁₄ 1 to 314 ₄ is not limited to four, three or more (at least three), i.e. if more is.

With the above configuration, when the motor 302 rotationally drives the rotating shaft 303, the rotating member 318 engaged with the gear 304 rotates, and the rotating motion of the rotating member 318 rotates via the elastic members 314 _{1 to} 314 _4. It is transmitted to the pinion gear 306 fixed to the member 319. As a result, the pinion gear 306 rotates around the rotation shaft 317.

As the pinion gear 306 rotates, the rack gears 309 ₁ and 309 ₂ meshed with the pinion gear 306 move linearly. Accordingly, the movable bases 307 ₁ and 307 ₂ slide linearly along the rails 310 ₁ and 310 ₂ , and the gripping claws 312 ₁ and 312 ₂ attached to the movable bases 307 ₁ and 307 ₂ are ± X1, respectively. The workpiece W can be linearly moved in the ± X2 direction, and the workpiece W can be gripped and released. Thus, the conversion mechanism 320 converts the rotational motion of the rotating member 319 into a linear motion, and opens and closes the plurality of gripping claws 312 ₁ and 312 ₂ .

  In the third embodiment, the gripping device main body 301 includes a detection unit 325 having a magnetic flux generation source 315 such as a permanent magnet and a magnetoelectric conversion element 316 such as a Hall element, as shown in FIG. The magnetic flux generation source 315 is provided on one of the rotating members 318 and 319, on the inner peripheral surface of the rotating member 318 in the third embodiment. In addition, the magnetoelectric conversion element 316 is provided on the outer peripheral surface of the rotation member 319 in the third embodiment, the other rotation member of the rotation members 318 and 319. The magnetic flux generation source 315 and the magnetoelectric conversion element 316 face each other when there is no relative rotation between the rotating member 318 and the rotating member 319.

When relative rotation occurs between the rotating member 319 and the rotating member 318 due to elastic deformation in the torsional direction generated in the elastic members 314 _{1 to} 314 ₄ , between the magnetic flux generation source 315 and the magnetoelectric conversion element 316. A relative displacement occurs, and the magnetic flux density passing through the magnetoelectric conversion element 316 changes.

Accordingly, the magnetoelectric conversion element 316 generates a voltage proportional to the amount of elastic deformation generated in the elastic members 314 _{1 to} 314 ₄ , that is, the relative rotation angle (rotation amount) of the rotation member 318 with respect to the rotation member 319. (See FIG. 1). As described above, the detecting unit 325 is configured to rotate the rotating member 318 relative to the rotating member 319 by the elastic deformation amount in the torsional direction generated in the elastic members 314 _{1 to} 314 ₄ , that is, elastic deformation of the elastic members 314 _{1 to} 314 _4. Detect the amount.

  In the third embodiment, the magnetic flux generating source 315 is provided on the inner peripheral surface of the rotating member 318 and the magnetoelectric conversion element 316 is provided on the outer peripheral surface of the rotating member 319. However, the present invention is not limited to this, and the magnetic flux generating source 315 is provided on the rotating member 319. Alternatively, the magnetoelectric conversion element 316 may be provided on the inner peripheral surface of the rotating member 318.

  Next, in FIG. 11, the alternate long and short dash line C31 and the alternate long and short dash line C32 indicate the center lines of the magnetic flux generation source 315 and the magnetoelectric conversion element 316, respectively.

When allowed to hold the workpiece W by the gripping claws ₃₁₂ 1, 312 ₂ are moved together, by gripping claws ₃₁₂ 1, 312 ₂ contacts the workpiece W, the gripping claws ₃₁₂ 1, 312 ₂ will cease to move any further, The rotation of the pinion gear 306, that is, the rotation of the rotating member 319 is stopped. However, since the motor 302 generates a driving force to rotate the pinion gear 306, as shown in FIG. 11, the elastic members 314 _{1 to} 314 ₄ are elastically deformed in the torsional direction, and the rotating member 318 is rotated. 319 relative to the rotation. At this time, a displacement G is relatively generated between the magnetic flux generation source 315 and the magnetoelectric conversion element 316 due to elastic deformation, and the magnetoelectric conversion element 316 outputs a voltage proportional to the amount of displacement, whereby the elastic members 314 _{1 to} 314. ₄ detects the amount of elastic deformation in the torsional direction generated in FIG. Accordingly, the controller 401 (see FIG. 1) can control the gripping force.

As described above, according to the third embodiment, when the motor 302 moves the gripping claws 312 ₁ , 312 ₂ to each other and grips the workpiece W with the gripping claws 312 ₁ , 312 ₂ , the elastic deformation corresponding to the gripping force. The elastic members 314 _{1 to} 314 ₄ are elastically deformed in the twisting direction. By detecting the elastic deformation amount by the detection unit 325, the controller 401 (see FIG. 1) can obtain an accurate gripping force, and the gripping force by the gripping claws 312 ₁ and 312 ₂ is accurately set to the target gripping force. be able to. As a result, it is not necessary to detect the amount of elastic deformation of the gripping claws in order to obtain the gripping force as in the prior art. Therefore, it is not necessary to incorporate force sensors such as strain gauges in the gripping claws 312 ₁ and 312 ₂ . Thus, without having a constraint size and shape of the gripping claws ₃₁₂ 1, 312 _2, can be freely designed gripping claws ₃₁₂ 1, 312 _2.

Further, there is little difference in rigidity of the transmission path for transmitting the force to each gripping claw 312 ₁ , 312 ₂ and the gripping claws 312 ₁ , 312 ₂ . For this reason, it is possible to grip at the same gripping position even with different gripping forces, and there is no need for a separate rotation drive unit for determining the gripping position, and the gripping claws 312 ₁ , 312 ₂ can be driven by the same motor 302. The apparatus can be reduced in size and weight. As described above, since the gripping device is reduced in size and weight, the operation of the robot arm is stabilized and all operations such as assembling work are facilitated.

[Fourth Embodiment]
Next, a gripping device according to a fourth embodiment of the present invention will be described. FIG. 12 is an explanatory view showing the main part of the gripping device main body of the gripping device according to the fourth embodiment of the present invention. FIG. 12A is a plan view showing the main part of the gripping device main body of the gripping device according to the fourth embodiment of the present invention. Moreover, FIG.12 (b) is a perspective view which shows the principal part of the holding | grip apparatus main body of the holding | grip apparatus which concerns on 4th Embodiment of this invention.

The cam member 505 is formed with _two arc-shaped cam grooves 506 ₁ and 506 ₂ into which the cam followers 109 ₁ and 109 ₂ (see FIG. 2) are slidably fitted. Inside the ring-shaped rotating member 518 that is the first rotating member, a rotating member 519 that is the second rotating member that is disposed coaxially with the rotating member 518 and is formed integrally with the cam member 505 is disposed. A rotary member 518 and the rotating member 519 is coupled by the elastic member ₅₁₄ 1-514 ₄ a plurality of equally spaced in the circumferential direction (4).

In the fourth embodiment, as shown in FIG. 12B, the gripping device main body 101 (see FIG. 1) is a strain gauge that detects the strain amount of an elastic member 514 (for example, the elastic member 514 ₃ ) as a detection unit. 515. The strain gauge 515 is attached to at least one of the elastic members 514 _{1 to} 514 ₄ , and the resistance value changes according to the amount of strain of the elastic member. It is possible to obtain a voltage proportional to the strain amount of the elastic member 514 ₃ by converting the change in resistance of the strain gauge 515 to the voltage controller 401 (see FIG. 5). As described above, the gripping device of the fourth embodiment can detect the gripping force, and the controller 401 can control the gripping force.

By using the strain gauge 515 to the deformation detection of the elastic member 514 _3, it can be advantageously made inexpensively detecting unit for detecting the displacement of the rotary member corresponding to the gripping force.

  In the fourth embodiment, the rotating member according to the first embodiment of the present invention is described as an example. However, the rotating member according to the second embodiment and the third embodiment can also be applied.

[Fifth Embodiment]
Next, a gripping device according to a fifth embodiment of the present invention will be described. FIG. 13: is a top view which shows the principal part of the holding | grip apparatus main body of the holding | grip apparatus which concerns on 5th Embodiment of this invention.

The cam member 605 is formed with _two arc-shaped cam grooves 606 ₁ and 606 ₂ into which cam followers 109 ₁ and 109 ₂ (see FIG. 2) are slidably fitted. A rotating member 619 that is a second rotating member that is disposed coaxially with the rotating member 618 and is formed integrally with the cam member 605 is disposed inside the ring-shaped rotating member 618 that is the first rotating member. A rotary member 618 and the rotating member 619 is coupled by the elastic member ₆₁₄ 1-614 ₄ a plurality of equally spaced in the circumferential direction (4).

In the fifth embodiment, the gripping device main body 101 (see FIG. 1) includes a capacitance sensor 615 and a wall surface 616 provided on the rotating member 618, as shown in FIG. The electrostatic capacity sensor 615 is installed at an appropriate interval with respect to the wall surface 616, and changes in the distance D between the electrostatic capacity sensor 615 and the wall surface 616 caused by the deformation of the elastic members 614 _{1 to} 614 ₄ are electrostatically detected. Detected by the capacitance sensor 615 and output to the controller 401. As described above, the gripping device of the fifth embodiment can detect the gripping force, and the controller 401 can control the gripping force.

  As described above, the use of the capacitance sensor 615 in the detection unit has an advantage that the rotating member itself can be measured and the configuration is simple, so that the assembly is easy and can be manufactured at low cost. In addition, since it can be detected in a non-contact manner, it has the advantage of being resistant to changes with time.

  In the fifth embodiment, the rotating member according to the first embodiment of the present invention is described as an example. However, the rotating member according to the second embodiment and the third embodiment can also be applied.

[Sixth Embodiment]
Next, a gripping device according to a sixth embodiment of the present invention will be described. FIG. 14 is an explanatory diagram showing a main part of a gripping device main body of the gripping device according to the sixth embodiment of the present invention. Fig.14 (a) is a top view which shows the principal part of the holding | grip apparatus main body of the holding | grip apparatus which concerns on 6th Embodiment of this invention. FIG. 14B is a detailed view showing the detection unit of the gripping device main body of the gripping device according to the sixth embodiment of the present invention.

The cam member 705 is formed with _two arc-shaped cam grooves 706 ₁ and 706 ₂ into which cam followers 109 ₁ and 109 ₂ (see FIG. 2) are slidably fitted. Inside the ring-shaped rotating member 718 that is the first rotating member, a rotating member 719 that is a second rotating member that is disposed coaxially with the rotating member 718 and is formed integrally with the cam member 705 is disposed. A rotary member 718 and the rotating member 719 is coupled by the elastic member ₇₁₄ 1-714 ₄ a plurality of equally spaced in the circumferential direction (4).

In the sixth embodiment, the gripping device main body 101 (see FIG. 1) includes a photoelectric sensor 715 and a linear scale 716 as a detection unit, as shown in FIG. The photoelectric sensor 715 is provided on one of the rotating members 718 and 719, that is, on the inner peripheral surface of the rotating member 718 in the sixth embodiment. The linear scale 716 is provided on the other rotating member of the rotating members 718 and 719, that is, on the inner peripheral surface of the rotating member 719 in the sixth embodiment. When relative rotation occurs between the rotating member 719 and the rotating member 718 due to elastic deformation in the twisting direction generated in the elastic members 714 ₁ to 714 ₄ , the photoelectric sensor 715 reads the rotation angle. As described above, the gripping device of the fifth embodiment can detect the gripping force, and the controller 401 can control the gripping force. In this case, it is preferable to use a reflective photoelectric sensor as the photoelectric sensor 715 because it can be easily configured.

  In this way, by using the photoelectric sensor 715 for the detection unit, it is possible to detect with high accuracy against disturbance factors such as heat, and even if the rotating member is a magnetic material or a non-metal, the displacement detection unit is not affected. There is an advantage that it can be manufactured without choosing the material. In addition, since it can be detected in a non-contact manner, it has the advantage of being resistant to changes with time.

  In the sixth embodiment, the rotating member according to the first embodiment of the present invention is described as an example. However, the rotating member according to the second embodiment and the third embodiment can also be applied.

  The present invention is not limited to the embodiments described above, and many modifications are possible within the technical idea of the present invention.

  In the above embodiment, the case where the gripping device includes two gripping claws has been described as an example. However, the present invention is not limited to this, and any number of gripping claws may be used as long as there are two or more gripping claws. For example, a similar effect can be obtained with a gripping device in which three gripping claws are arranged at equal intervals.

  In the above embodiment, the case where the controller as the control unit is provided in the gripping device main body has been described. However, for example, the main controller may have a controller function, and the gripping device omits the controller. It may be.

  In the above embodiment, the conversion mechanism is a mechanism using a cam member or a rack and pinion mechanism. However, the present invention is not limited to this. For example, the present invention can be applied to a mechanism using a ball screw.

  Moreover, in the said embodiment, although the conversion mechanism converted a rotational motion into a linear motion, it is not limited to a linear motion, What is necessary is just to be able to convert into the opening / closing operation | movement of several holding claws. For example, the gripping claws may be converted so as to open and close by moving in the radial direction while moving in the circumferential direction around the central axis.

100 ... holding apparatus, 102 ... motor (rotation driving unit), 103 ... rotary shaft, 105 ... cam member, ₁₁₂ 1, 112 2 _... gripping _claws, 114 _1, 114 2, ₁₁₄ 3, 114 4 _... elastic member, 115 ... Magnetic flux generating source 116 ... Magnetoelectric conversion element 118 ... Rotating member (first rotating member) 119 ... Rotating member (second rotating member) 120 ... Conversion mechanism 125 ... Detection unit

Claims (11)

A plurality of gripping claws capable of gripping and releasing the gripping object by opening and closing operations;
A rotational drive unit that rotationally drives the rotational shaft;
A first rotating member that rotates in conjunction with rotation of the rotating shaft;
A second rotating member disposed coaxially with the first rotating member;
An elastic member that connects the first rotating member and the second rotating member, and transmits the rotational motion of the first rotating member to the second rotating member;
A conversion mechanism for converting the rotational movement of the second rotating member into the opening and closing operations of the plurality of gripping claws;
And a detection unit that detects an amount of elastic deformation of the elastic member accompanying relative rotation of the first rotating member with respect to the second rotating member.   The gripping apparatus according to claim 1, further comprising a control unit that converts a detection result of the detection unit into a gripping force and controls the rotation driving unit so that the gripping force becomes a target gripping force. The conversion mechanism is
A shaft member provided at a proximal end of the gripping claw;
The grip according to claim 1, further comprising: a cam member that is formed with an arcuate cam groove into which the shaft member is slidably fitted, and that rotates integrally with the second rotating member. apparatus.   The gripping device according to claim 3, wherein the second rotating member and the cam member are integrally formed. The conversion mechanism is
A rack gear provided at the proximal end of the gripping claws;
The gripping device according to claim 1, further comprising: a pinion gear that meshes with the rack gear and rotates integrally with the second rotation member.   The gripping device according to any one of claims 1 to 5, wherein the gripping claw is formed of a rigid body having higher rigidity than the elastic member. The detector is
A magnetic flux generating source provided on one of the first rotating member and the second rotating member;
The gripping device according to claim 1, further comprising: a magnetoelectric conversion element provided on the other rotating member of the first rotating member and the second rotating member.   The gripping device according to claim 1, wherein the detection unit is a strain gauge that detects a strain amount of the elastic member. The detector is
A capacitance sensor provided on one of the first rotating member and the second rotating member; and a wall surface provided on the other rotating member of the first rotating member and the second rotating member; The gripping device according to claim 1, comprising: The detector is
A photoelectric sensor provided on one of the first rotating member and the second rotating member; a linear scale provided on the other rotating member of the first rotating member and the second rotating member; The gripping device according to claim 1, comprising: With articulated robots,
A robot apparatus comprising: the gripping apparatus according to claim 1 provided on the robot.

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