JP2016159411A - Parallel gripper type gripping device and control method for the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a parallel gripper type gripping device capable of high-speed drive and control method for the same.SOLUTION: The top of a main pedestal 1-0 is provided with a left pedestal 1-1 and a right pedestal 1-2 to be movable right and left by facing each other. The left pedestal 1-1 is fitted with a feed screw 2-1, and the feed screw 2-1 keeps a left gripper 4-1 attached via a nut 3-1. The right pedestal 1-2 is fitted with a feed screw 2-2, and the feed screw 2-2 keeps a right gripper 4-2 attached via a nut 3-2. The feed screws 2-1,2-2 are simultaneously driven on rotation by a motor 5 via transmission gear mechanisms 6-1,6-2. The bottom side of the left pedestal 1-1 is provided with projections 1-1a,1-1b, and the bottom side of the right pedestal 1-2 is provided with projections 1-2a,1-2b. Between the projection 1-1a and the projection 1-1b and between the projection 1-2a and the projection 1-2b, the top of a horizontally movable medium pedestal 1-3 is provided with a reduction gear 8a and a stereo toggle mechanism 9.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a parallel gripper gripping device capable of exerting a force in both opening and closing directions and a control method thereof.

  In an industrial manipulator or the like, a gripping device that grips a gripping object requires high speed and a large gripping force.

  A conventional gripping device includes a single gripper for gripping an object to be gripped, a pedestal, a worm wheel that rotatably holds the gripper with respect to the pedestal, a worm screw that constitutes the worm wheel and the worm gear, and a worm A first motor for driving the screw, a carriage that is fixedly mounted on the first motor and is movable on the pedestal, a three-dimensional toggle mechanism provided on the carriage, and a reduction ratio for driving the three-dimensional toggle mechanism And a second motor having a large reduction gear (see Patent Document 1).

  In the conventional gripping device described above, when the first motor is rotated in the first direction, the worm screw rotates in the first direction and the worm wheel also rotates. As a result, the gripper held by the worm wheel comes into contact with, for example, the upper part of the grasped object. Thereafter, when the first motor continues to rotate in the first direction, the differential mechanism operation stops the rotation of the worm wheel and the worm screw moves in the opposite direction to the rotation of the worm wheel. The carriage moves in one direction on the pedestal together with the first motor. In this case, while the worm screw moves, that is, while the first carriage moves, the gripping force of the gripper with respect to the gripping object hardly changes. As a result, when the carriage stops at one end of the pedestal, the rotation of the first motor is stopped and the second motor is rotated to drive the three-dimensional toggle mechanism. As a result, the worm screw moves further by rotating the carriage together with the first motor by the large pressing force of the three-dimensional toggle mechanism to move the worm wheel, and the gripper moves the upper part of the object to be grasped. It will grip firmly. In this way, after the gripper is brought into contact with the upper portion of the object to be gripped at high speed by the first motor and the differential mechanism is operated, the gripper is gripped by a large gripping force by driving the three-dimensional toggle mechanism by the second motor. The upper part of the object is strongly held (see: (a), (b), and (c) of FIG. 3 of Patent Document 1).

  Conversely, when the first motor is rotated in the second direction, the worm screw rotates in the second direction and the worm wheel also rotates. As a result, the gripper held by the worm wheel comes into contact with, for example, the lower part of the grasped object. Thereafter, when the first motor continues to rotate in the second direction, the differential mechanism operation stops the rotation of the worm wheel and the worm screw moves in the opposite direction to the rotation of the worm wheel. The carriage moves with the first motor in the opposite direction on the pedestal. Also in this case, while the worm screw moves, that is, while the first carriage moves, the gripping force of the gripper on the gripping object hardly changes. As a result, when the carriage stops at the other end of the pedestal, the rotation of the first motor is stopped and the second motor is rotated to drive the three-dimensional toggle mechanism. As a result, the worm screw moves by rotating the carriage together with the first motor by the large pressing force of the three-dimensional toggle mechanism to move the worm wheel further, and the gripper moves the lower part of the object to be grasped. It will grip firmly. In this way, after the gripper is brought into contact with the lower part of the object to be grasped at high speed by the first motor to perform a differential mechanism operation, the gripper is gripped by a large gripping force by driving the three-dimensional toggle mechanism by the second motor. The lower part of the object is strongly gripped (see: (a), (b), and (c) of FIG. 7 of Patent Document 1).

  In the conventional parallel gripper type gripping device to which the conventional gripping device described above is applied, instead of a single gripper coupled to the worm wheel, a left feed screw and a right feed screw coupled in series and having different screwing directions are used. Are coupled to the worm wheel, and two grippers, a left gripper and a right gripper, are attached in parallel to the left feed screw and the right feed screw via nuts (see FIG. 10 of Patent Document 1). As a result, after the left and right grippers are brought into contact with the object to be gripped at high speed by the first motor and then the differential mechanism is operated, the right and left grippers are gripped with a large gripping force by driving the three-dimensional toggle mechanism by the second motor. Hold the object firmly.

Japanese Patent No. 4581117 JP 2010-23185 A

  However, in the conventional parallel gripper gripping device described above, the drive by the first and second motors propagates to the left and right grippers via the worm gear (worm screw and worm wheel) and the feed screw, so that it is limited to high-speed driving. There is a problem that there is. In addition, since a combination of the worm gear and two feed screws coupled symmetrically is required, there is a problem that the manufacturing cost is high.

  In order to solve the above-described problems, a parallel gripper gripping device according to the present invention includes a main pedestal, a first pedestal that is provided on the main pedestal and has first and second protrusions, A second pedestal provided movably on the pedestal and having third and fourth projections corresponding to the second and first projections; and a first feed screw fitted in the first pedestal; , A second feed screw fitted into the second base, a first gripper attached to the first feed screw via the first nut, and a second nut to the second feed screw A second gripper attached via the first motor, a first motor for driving the first and second feed screws simultaneously to move the first and second grippers symmetrically, and the first and second A third pedestal movably provided on the main pedestal between the third projections and between the third and fourth projections, and provided on the third pedestal The first is driven by the second motor and the second motor, the third projection distance or the second, it is to and a toggle mechanism for expanding the fourth projection distance.

  The parallel gripper gripping device control method according to the present invention is the above-described parallel gripper gripping device, wherein the first drive current is supplied to the first motor to rotate the first and second feed screws. Thus, after the gripping object contact stage in which the first and second grippers are brought into contact with the gripping object, and after the gripping object contact stage, the supply of the first driving current to the first motor is continued and the first The differential mechanism operation of moving the second pedestal and bringing the first or second projection of the first pedestal and the third or fourth projection of the second pedestal into contact with the second motor and the toggle mechanism After the stage and the differential mechanism operation stage, the toggle drive for stopping the supply of the first drive current to the first motor and supplying the second drive current to the second motor to drive the toggle mechanism A stage.

  According to the present invention, the driving by the first and second motors propagates to the first and second grippers via the feed screw without passing through the worm gear, so that high-speed driving is possible. Further, since the combination of the worm gear and the two feed screws coupled symmetrically is not necessary, the manufacturing cost can be reduced. Further, since the toggle mechanism exhibits a gripping force in both directions, the gripping force of the gripper can be increased.

It is a front view showing an embodiment of a parallel gripper type gripping device according to the present invention. It is an expansion perspective view of the left base of FIG. 1, and a right base. It is a perspective view which shows the example of the solid toggle mechanism of FIG. 1, Comprising: (A) shows the state before operation | movement, (B) shows the state after operation | movement. It is a front view for demonstrating the 1st holding | grip operation | movement of the parallel gripper type holding | gripping apparatus of FIG. It is a front view for demonstrating the 2nd holding | grip operation | movement of the parallel gripper type holding | gripping apparatus of FIG.

  FIG. 1 is a front view showing an embodiment of a parallel gripper gripping device according to the present invention.

  In FIG. 1, a left pedestal 1-1 and a right pedestal 1-2 are provided on a main pedestal 1-0 so as to be movable to the left and right.

  A feed screw 2-1 is fitted into the left pedestal 1-1, and a left gripper 4-1 is attached to the feed screw 2-1 via a nut 3-1. A feed screw 2-2 is fitted into the right pedestal 1-2, and a right gripper 4-2 is attached to the feed screw 2-2 via a nut 3-2.

  The feed screws 2-1 and 2-2 are driven to rotate simultaneously by the motor 5. In this case, the transmission gear mechanism 6-1 of the motor 5 for the feed screw 2-1 and the transmission gear mechanism 6-2 of the motor 5 for the feed screw 2-2 are substantially the same, but the transmission gear mechanism 6-1 includes The rotation direction reversing gear 6a is different. In addition, if the threading direction of the feed screw 2-1 and the threading direction of the feed screw 2-2 are opposite, the rotation direction reversing gear 6a is not necessary. Accordingly, the feed screws 2-1 and 2-2 are rotationally driven in opposite directions. The gears of the transmission gear mechanisms 6-1 and 6-2 are long. Therefore, even if the transmission gear mechanisms 6-1 and 6-2 move left and right, the moving force can be transmitted to the grippers 4-1 and 4-2. The nut 3-1 and the left gripper 4-1 and the nut 3-2 and the right gripper 4-2 move symmetrically. Further, since the rotation of the motor 5 is transmitted to the feed screws 2-1 and 2-2 via the transmission gear mechanisms 6-1 and 6-2 without being decelerated, the feed screws 2-1 and 2- The rotational drive of 2 is performed with a small torque and is fast.

  As shown in detail in FIG. 2A, protrusions 1-1a and 1-1b are provided on the lower side of the left pedestal 1-1, and as shown in detail in FIG. 2B, the right pedestal 1 -2 are provided with protrusions 1-2a and 1-2b corresponding to the protrusions 1-1b and 1-1a, respectively. In this case, there are two protrusions 1-1a, two protrusions 1-1b, and the protrusions 1-2a and 1-2b can move between the protrusions 1-1a and between the protrusions 1-1b. Yes. However, the numbers of the protrusions 1-1a and 1-1b and the protrusions 1-2a and 1-2b are arbitrary. The interval between the protrusion 1-1a and the protrusion 1-1b is the same as the interval between the protrusion 1-2a and the protrusion 1-2b.

    The spring 7-1 can press both the protrusion 1-1a of the left pedestal 1-1 and the protrusion 1-2b of the right pedestal 1-2 through the plate member 7-10, and the spring 7-2 can press the plate member 7-10. Both the protrusion 1-2a of the right pedestal 1-2 and the protrusion 1-1b of the left pedestal 1-1 can be pressed via -20. Therefore, if the object to be grasped exists in the center, the protrusions 1-1a and 1-1b of the left pedestal 1-1 and the protrusions 1-2a and 1-2b of the right pedestal 1-2 are symmetrically positioned. Yes. That is, if the gripping object exists in the middle of the grippers 1-1 and 1-2, the left pedestal 1-1, the right pedestal 1-2, the left gripper 4-1, and the right gripper 4-2 move symmetrically. . For example, when the left pedestal 1-1 moves to the left and the right pedestal 1-2 moves to the right, the spring 7-1 presses only the protrusion 1-1a of the left pedestal 1-1 through the plate member 7-10. The spring 7-2 presses only the protrusion 1-2a of the right pedestal 1-2 through the plate member 7-20. On the contrary, when the left pedestal 1-1 moves to the right side and the right pedestal 1-2 moves to the left side, the spring 7-1 moves only the protrusion 1-2b of the right pedestal 1-2 through the plate member 7-10. The spring 7-2 presses only the protrusion 1-1b of the left pedestal 1-1 through the plate member 7-20.

  Between the protrusion 1-1a and the protrusion 1-1b of the left pedestal 1-1 and between the protrusion 1-2a and the protrusion 1-2b of the right pedestal 1-2, it moves right and left on the main pedestal 1-0. The possible pedestal 1-3 is provided, and the motor 8, the speed reducer 8a, and the three-dimensional toggle mechanism 9 are provided on the middle pedestal 1-3. In this case, since the rotation of the motor 8 is transmitted to the three-dimensional toggle mechanism 9 via the speed reducer 8a, the three-dimensional toggle mechanism 9 is driven at a high torque, although it is not fast.

  As shown in detail in FIG. 3, the three-dimensional toggle mechanism 9 in FIG. 1 includes two plate members 91 and 92, and two or more, for example, three links 93, 94, and 95 arranged between the plate members 91 and 92. (Reference: FIG. 2 of Patent Document 2). The end portions of the links 93, 94, 95 are rotatably attached to positions decentered from the rotation center on the surfaces of the plate members 91, 92 facing each other in parallel. Accordingly, when the plate members 91 and 92 are relatively rotated by the large torque of the motor 7 via the speed reducer 7a as shown by the arrow in FIG. 3B, the state before the operation shown in FIG. The small distance DA in the contracted state between the plate members 91 and 92 becomes the large distance DB in the expanded state between the plate members 91 and 92 after the operation shown in FIG. In this case, in the expanded state of FIG. 3B, the links 93, 94, 95 are in a fully extended state, so that a large pressing force can be maintained without consuming energy. Note that the three-dimensional toggle mechanism 9 in FIG. 1 is not limited to the structure in FIG. 3 and may have another toggle structure.

  The control unit 10 is for controlling the motors 5 and 7, and is constituted by a microcomputer, for example. The control unit 10 supplies the forward drive current I1 or the reverse drive current I1 'to the motor 5 and receives the braking current I2 due to the rotation stoppage from the motor 5. Further, the control unit 10 supplies the forward drive current I3 or the reverse drive current I3 'to the motor 8.

  A first operation of the parallel gripper type gripping device of FIG. 1 by the control unit 10 of FIG. 1 will be described with reference to FIG. This first operation is an operation of gripping the gripping object X by closing the left gripper 4-1 and the right gripper 4-2. Further, it is assumed that the three-dimensional toggle mechanism 9 is in a pre-operation state and is initialized to a reduced state.

  First, referring to the gripping object contact stage in FIG. 4A, the control unit 10 supplies the forward drive current I <b> 1 to the motor 5. Accordingly, the motor 5 rotates in the forward direction. As a result, the left gripper 4-1 moves to the right by the rotation of the feed screw 2-1 by the transmission gear mechanism 6-1, and the right gripper 4-2 by the rotation of the feed screw 2-2 by the transmission gear mechanism 6-2. Move to the left. Finally, the left gripper 4-1 and the right gripper 4-2 come into contact with the grasped object X, and the left gripper 4-1 and the right gripper 4-2 are stopped.

  Even if the left gripper 4-1 and the right gripper 4-2 are stopped, the forward rotation of the motor 5 continues, and therefore the operation proceeds to the differential mechanism operation stage of FIG. In the differential mechanical operation stage, the left pedestal 1-1 is moved to the left side by the rotation of the feed screw 2-1, so that the protrusions 1-1a, 1-1b are also moved to the left side, and the spring 7-1 is protruded. Press 1-1a. Similarly, the right pedestal 1-2 moves to the right by the rotation of the feed screw 2-2. Therefore, the protrusions 1-2a and 1-2b also move to the right, and the spring 7-2 presses the protrusion 1-2a. . As a result, the protrusion 1-1b contacts the three-dimensional toggle mechanism 9, and the protrusion 1-2b contacts the motor 8. Accordingly, the movement of the left pedestal 1-1 and the right pedestal 1-2 is stopped, and the motor 5 Stop. In the differential mechanism operation stage, the gripping force between the left gripper 4-1 and the right gripper 4-2 hardly changes. When the control unit 10 detects the stop of the motor 5 by the braking current I2 of the motor 5, the control unit 10 proceeds to a toggle driving stage shown in FIG.

  In the toggle drive stage, the control unit 10 stops supplying the forward drive current I1 to the motor 5 and supplies the forward drive current I3 to the motor 8 for a predetermined time. As a result, the three-dimensional toggle mechanism 9 is driven and pushes the protrusion 1-1b of the base 1-1 and the protrusion 1-2b of the base 1-2 in both directions as indicated by arrows. That is, the three-dimensional toggle mechanism 9 exerts a pressing force in both directions. Accordingly, a large gripping force is generated by the left gripper 4-1 and the right gripper 4-2. In this state, the control unit 10 stops supplying the forward drive current I3 to the motor 8, but the large gripping force between the left gripper 4-1 and the right gripper 4-2 is consumed by the extended state of the three-dimensional toggle mechanism 9. It is maintained without electric power, and the gripping operation by opening the gripper ends.

  Before performing the next gripping operation, the control unit 10 supplies the reverse drive current I3 'to the motor 8 for a predetermined time to initialize the three-dimensional toggle mechanism 9 to the contracted state.

  Next, a second operation of the parallel gripper type gripping device of FIG. 1 by the control unit 10 of FIG. 1 will be described with reference to FIG. This second operation is an operation of grasping the object to be grasped Y by expanding the left gripper 4-1 and the right gripper 4-2. Also in this case, it is assumed that the three-dimensional toggle mechanism 9 is in a pre-operation state and initialized to a reduced state.

  First, referring to the gripping object contact stage in FIG. 5A, the control unit 10 supplies the motor 5 with the reverse drive current I <b> 1 ′. Accordingly, the motor 5 rotates in the reverse direction. As a result, the left gripper 4-1 moves to the left by the rotation of the feed screw 2-1 by the transmission gear mechanism 6-1, and the right gripper 4-2 by the rotation of the feed screw 2-2 by the transmission gear mechanism 6-2. Move to the right. Finally, the left gripper 4-1 and the right gripper 4-2 come into contact with the grasped object Y, and the left gripper 4-1 and the right gripper 4-2 are stopped.

  Even if the left gripper 4-1 and the right gripper 4-2 are stopped, the reverse rotation of the motor 5 continues, and therefore the operation proceeds to the differential mechanism operation stage of FIG. In the differential mechanism operation stage, the left pedestal 1-1 is moved to the right side by the rotation of the feed screw 2-1, so that the protrusions 1-1a and 1-1b are also moved to the right side, and the spring 7-2 is protruded. Press 1-1b. Similarly, the right pedestal 1-2 moves to the left by the rotation of the feed screw 2-2. Accordingly, the protrusions 1-2a and 1-2b also move to the left, and the spring 7-1 presses the protrusion 1-2b. . As a result, the protrusion 1-2a contacts the three-dimensional toggle mechanism 9, and the protrusion 1-1a contacts the motor 8. Therefore, the movement of the left pedestal 1-1 and the right pedestal 1-2 stops, and the motor 5 Stop. In the differential mechanism operation stage, the gripping force between the left gripper 4-1 and the right gripper 4-2 hardly changes. When the control unit 10 detects the stop of the motor 5 by the braking current I2 of the motor 5, the control unit 10 proceeds to a toggle driving stage shown in FIG.

  In the toggle drive stage, the control unit 10 stops supplying the reverse drive current I1 'to the motor 5 and supplies the forward drive current I3 to the motor 8 for a predetermined time. As a result, the three-dimensional toggle mechanism 9 is driven and pushes the protrusion 1-1b of the base 1-1 and the protrusion 1-2b of the base 1-2 in both directions as indicated by arrows. That is, the three-dimensional toggle mechanism 9 exerts a pressing force in both directions. Accordingly, a large gripping force is generated by the left gripper 4-1 and the right gripper 4-2. In this state, the control unit 10 stops supplying the forward drive current I3 to the motor 8, but the large gripping force between the left gripper 4-1 and the right gripper 4-2 is consumed by the extended state of the three-dimensional toggle mechanism 9. It is maintained without electric power, and the gripping operation by pushing the gripper is finished.

  In this case as well, before performing the next gripping operation, the control unit 10 supplies the reverse drive current I3 'to the motor 8 for a predetermined time to initialize the three-dimensional toggle mechanism 9 to the contracted state.

  Thus, in the above-described embodiment, the driving by the motors 5 and 8 propagates to the left gripper 4-1 and the right gripper 4-2 via the feed screws 2-1 and 2-2 without using the worm gear. Therefore, high speed driving is possible. Further, since the feed screws 2-1 and 2-2 may be ordinary feed screws, the manufacturing cost can be reduced. Furthermore, since the three-dimensional toggle mechanism 9 can exert a gripping force in both directions, the gripping force of the left gripper 4-1 and the right gripper 4-2 can be increased.

  In the above-described embodiment, the rotation stop of the motor 5 is detected by the braking current, but the contact sensor (switch) that detects the contact with the protrusions 1-1a, 1-1b, 1-2a, 1-2b. ) And the rotation stop of the motor 5 may be detected by the output of the sensor.

  Further, two springs 7-1 are provided, and the protrusions 1-1a and 1-2b are individually pressed by each spring 7-1. Similarly, two springs 7-2 are provided, and each spring 7-2 The protrusions 1-2a and 1-1b may be individually pressed. In this case, the plate members 7-10 and 7-20 are unnecessary.

  Furthermore, the present invention can be applied to any change in the obvious range of the above-described embodiment.

1: Main pedestal 1-1: Left pedestal 1-1a, 1-1b: Projection 1-2: Right pedestal 1-2a, 1-2b: Projection 1-3: Middle pedestal 2-1, 2-2: Feed screw 3-1, 3-2: Nut 4-1: Left gripper 4-2: Right gripper 5: Motor 6-1, 6-2: Transmission gear mechanism 6a: Rotating direction reversing gears 7-1, 7-2: Spring 7-10, 7-20: plate member 8: motor 8a: speed reducer 9: three-dimensional toggle mechanism 91, 92: plate members 93, 94, 95: link 10: control unit

In order to solve the above-described problems, a parallel gripper gripping device according to the present invention includes a main pedestal, a first pedestal that is provided on the main pedestal and has first and second protrusions, A second pedestal provided movably on the pedestal and having third and fourth projections corresponding to the second and first projections; and a first feed screw fitted in the first pedestal; , A second feed screw fitted into the second base, a first gripper attached to the first feed screw via the first nut, and a second nut to the second feed screw A second gripper attached via the first motor, a first motor for driving the first and second feed screws simultaneously to move the first and second grippers symmetrically, and the first and second A third pedestal movably provided on the main pedestal between the third projections and between the third and fourth projections, and provided on the third pedestal A second motor, the first is driven by a second motor, between the third projection distance or the second, it is to and a toggle mechanism for expanding the fourth projection distance.

Claims (10)

A main pedestal;
A first pedestal provided movably on the main pedestal and having first and second protrusions;
A second pedestal provided movably on the main pedestal and having third and fourth projections corresponding to the second and first projections;
A first lead screw fitted into the first pedestal;
A second lead screw fitted into the second pedestal;
A first gripper attached to the first lead screw via a first nut;
A second gripper attached to the second lead screw via a second nut;
A first motor for driving the first and second feed screws simultaneously to move the first and second grippers symmetrically;
A third base movably provided on the main base between the first and second protrusions and between the third and fourth protrusions;
A second motor provided on the third pedestal and a toggle driven by the second motor to extend the distance between the first and third protrusions or the distance between the second and fourth protrusions A parallel gripper gripping device comprising a mechanism.   The parallel gripper gripping device according to claim 1, wherein the distance between the first and second protrusions of the first pedestal and the distance between the third and fourth protrusions of the second pedestal are the same. further,
A first spring provided on the main pedestal, for pressing both the first projection of the first pedestal and the fourth projection of the second pedestal through the first plate member;
A second spring provided on the main pedestal for pressing both the third projection of the second pedestal and the second projection of the first pedestal via the second plate member; The parallel gripper gripping device according to claim 1.   The parallel gripper gripping device according to claim 1, further comprising four springs provided on the main pedestal for individually pressing the first, second, third, and fourth protrusions. further,
A first transmission gear mechanism provided between the first feed screw and the first motor;
The parallel gripper-type gripping device according to claim 1, further comprising: a second transmission gear mechanism provided between the second feed screw and the first motor. The threading direction of the first feed screw and the threading direction of the second feed screw are the same;
6. The parallel gripper gripping device according to claim 5, wherein one of the first and second transmission gear mechanisms includes a rotation direction reversing gear.   The parallel gripper gripping device according to claim 5, wherein a threading direction of the first feed screw and a threading direction of the second feed screw are opposite to each other. A main pedestal;
A first pedestal provided movably on the main pedestal and having first and second protrusions;
A second pedestal provided movably on the main pedestal and having third and fourth projections corresponding to the second and first projections;
A first lead screw fitted into the first pedestal;
A second lead screw fitted into the second pedestal;
A first gripper attached to the first lead screw via a first nut;
A second gripper attached to the second lead screw via a second nut;
A first motor for driving the first and second feed screws simultaneously to move the first and second grippers symmetrically;
A third base movably provided on the main base between the first and second protrusions and between the third and fourth protrusions;
A second motor provided on the third pedestal and a toggle driven by the second motor to extend the distance between the first and third protrusions or the distance between the second and fourth protrusions In a parallel gripper gripping device having a mechanism,
A gripping object contact step of contacting the first and second grippers with the gripping object by supplying a first drive current to the first motor and rotating the first and second feed screws; ,
After the gripping object contact step, the supply of the first drive current to the first motor is continued to move the first and second pedestals, and the first or second pedestal of the first pedestal is moved. A differential mechanical operation stage in which a second protrusion and the third or fourth protrusion of the second pedestal are brought into contact with the second motor and the toggle mechanism;
After the differential mechanism operation step, the supply of the first drive current to the first motor is stopped and the second drive current is supplied to the second motor to drive the toggle mechanism. A control method for a parallel gripper gripping device comprising a toggle driving stage.   The contact of the first or second protrusion of the first pedestal and the third or fourth protrusion of the second pedestal with the second motor and the toggle mechanism is applied to the braking of the first motor. 9. The method of controlling a parallel gripper gripping device according to claim 8, wherein the control is performed by a current and proceeds from the differential mechanism operation stage to the toggle driving stage.   The contact sensor detects contact of the first or second protrusion of the first pedestal and the third or fourth protrusion of the second pedestal with the second motor and the toggle mechanism. The method of controlling a parallel gripper gripping device according to claim 8, wherein the control proceeds from the differential mechanism operation stage to the toggle drive stage.

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