JP4737456B2 - グリッパ機構 - Google Patents
グリッパ機構 Download PDFInfo
- Publication number
- JP4737456B2 JP4737456B2 JP2007302760A JP2007302760A JP4737456B2 JP 4737456 B2 JP4737456 B2 JP 4737456B2 JP 2007302760 A JP2007302760 A JP 2007302760A JP 2007302760 A JP2007302760 A JP 2007302760A JP 4737456 B2 JP4737456 B2 JP 4737456B2
- Authority
- JP
- Japan
- Prior art keywords
- gripper
- workpiece
- self
- feed screw
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 230000007246 mechanism Effects 0.000 title claims description 95
- 238000006073 displacement reaction Methods 0.000 claims description 33
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 230000006870 function Effects 0.000 description 9
- 230000002093 peripheral effect Effects 0.000 description 8
- 230000009471 action Effects 0.000 description 7
- 210000000078 claw Anatomy 0.000 description 7
- 238000013459 approach Methods 0.000 description 4
- 238000005265 energy consumption Methods 0.000 description 2
- 230000020169 heat generation Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- PXGOKWXKJXAPGV-UHFFFAOYSA-N Fluorine Chemical compound FF PXGOKWXKJXAPGV-UHFFFAOYSA-N 0.000 description 1
- ZOKXTWBITQBERF-UHFFFAOYSA-N Molybdenum Chemical compound [Mo] ZOKXTWBITQBERF-UHFFFAOYSA-N 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000011737 fluorine Substances 0.000 description 1
- 229910052731 fluorine Inorganic materials 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000011733 molybdenum Substances 0.000 description 1
- 229910052750 molybdenum Inorganic materials 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
- B25J15/0273—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links comprising linear guide means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Gripping On Spindles (AREA)
Description
μ≧sinθ/cosθ (1)
14、64…グリッパ部 16…モータ
18…リンク機構 20a、20b…リンク部材
22、68…送りねじ部 24、70…筐体
28、80…ねじ軸 28a、80a、80b…雄ねじ
30、86a、86b…送りナット 30a、84a、84b…雌ねじ
42a、42b、94a、94b…把持部材
43a、43b…爪部
Claims (1)
- 回転駆動源と、
軸線方向に変位可能な変位部材に前記回転駆動源からの回転駆動力を伝達する送りねじ部と、
前記変位部材に連結され、該変位部材の変位に連動して互いに接近及び離間して開閉することでワークを把持する一組の把持部材を有するグリッパ部と、
を備えるグリッパ機構であって、
前記送りねじ部は、前記変位部材が前進されて前記グリッパ部により前記ワークを把持した場合に、該ワークから前記グリッパ部が受ける反力によっては前記変位部材が後退しないセルフロック機構を構成すると共に、
前記セルフロック機構は、前記回転駆動源からの回転駆動力が該送りねじ部に伝達されることで解除可能であり、
さらに、前記セルフロック機構は、前記回転駆動力を前記変位部材の進退駆動力へと変換するために前記送りねじ部に設けられた雄ねじと雌ねじとの間の噛み合い部分での摩擦係数をμと称し、
前記把持部材により前記ワークを把持した場合に前記送りねじ部が受ける軸力の方向と、前記雄ねじ及び前記雌ねじの噛み合い方向に対する垂直抗力の方向との間の角度をθと称した場合に、
μ≧sinθ/cosθ
の関係式を満たすように設定されており、
さらに、前記回転駆動源を手動によって回転操作することで前記セルフロック機構のロック状態を解除可能な操作部を、前記送りねじ部の軸線上の一端側に設けたことを特徴とするグリッパ機構。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007302760A JP4737456B2 (ja) | 2007-11-22 | 2007-11-22 | グリッパ機構 |
US12/261,333 US8303007B2 (en) | 2007-11-22 | 2008-10-30 | Drive mechanism and gripper mechanism equipped with drive mechanism |
TW097142331A TWI367803B (en) | 2007-11-22 | 2008-11-03 | Drive mechanism and gripper mechanism equipped with drive mechanism |
DE102008057386.8A DE102008057386B4 (de) | 2007-11-22 | 2008-11-14 | Antriebsmechanismus und Greifmechanismus mit einem solchen Antriebsmechanismus |
CN2008101822474A CN101439479B (zh) | 2007-11-22 | 2008-11-20 | 驱动机构和配备有该驱动机构的夹具机构 |
KR1020080116399A KR101009290B1 (ko) | 2007-11-22 | 2008-11-21 | 구동기구 및 상기 구동기구를 구비하는 파지기구 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007302760A JP4737456B2 (ja) | 2007-11-22 | 2007-11-22 | グリッパ機構 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2009125851A JP2009125851A (ja) | 2009-06-11 |
JP4737456B2 true JP4737456B2 (ja) | 2011-08-03 |
Family
ID=40577321
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007302760A Active JP4737456B2 (ja) | 2007-11-22 | 2007-11-22 | グリッパ機構 |
Country Status (6)
Country | Link |
---|---|
US (1) | US8303007B2 (ja) |
JP (1) | JP4737456B2 (ja) |
KR (1) | KR101009290B1 (ja) |
CN (1) | CN101439479B (ja) |
DE (1) | DE102008057386B4 (ja) |
TW (1) | TWI367803B (ja) |
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2007
- 2007-11-22 JP JP2007302760A patent/JP4737456B2/ja active Active
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2008
- 2008-10-30 US US12/261,333 patent/US8303007B2/en active Active
- 2008-11-03 TW TW097142331A patent/TWI367803B/zh active
- 2008-11-14 DE DE102008057386.8A patent/DE102008057386B4/de active Active
- 2008-11-20 CN CN2008101822474A patent/CN101439479B/zh active Active
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US20090133524A1 (en) | 2009-05-28 |
DE102008057386A1 (de) | 2009-05-28 |
JP2009125851A (ja) | 2009-06-11 |
TW200927372A (en) | 2009-07-01 |
CN101439479A (zh) | 2009-05-27 |
KR20090053739A (ko) | 2009-05-27 |
CN101439479B (zh) | 2012-02-29 |
DE102008057386B4 (de) | 2024-03-14 |
KR101009290B1 (ko) | 2011-01-18 |
TWI367803B (en) | 2012-07-11 |
US8303007B2 (en) | 2012-11-06 |
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