JPH01143367U

JPH01143367U -

Info

Publication number: JPH01143367U
Application number: JP3769888U
Authority: JP
Priority date: 1988-03-24
Filing date: 1988-03-24
Publication date: 1989-10-02

Description

[Brief explanation of the drawing]

第１図は制御装置の一実施例のブロツク構成図
、第２図は動作説明図、第３図はスイツチの一例
の外観図、第４図は把持装置の一例の構成図であ
る。図面中、Ｓ_１は閉指令のスイツチ、Ｓ_２は開指
令のスイツチ、Ｍはモータ、Ａは電流検出装置、
Ｄは駆動装置、Ｃは電流指令装置、１はポテンシ
ヨメータを用いたスイツチ、５ａと５ｂは指部材
、７ａ，７ｂはウオームホイール、８はウオーム
である。 FIG. 1 is a block configuration diagram of an embodiment of the control device, FIG. 2 is an explanatory diagram of operation, FIG. 3 is an external view of an example of a switch, and FIG. 4 is a configuration diagram of an example of a gripping device. In the drawing, _S1 is a close command switch, _S2 is an open command switch, M is a motor, A is a current detection device,
D is a drive device, C is a current command device, 1 is a switch using a potentiometer, 5a and 5b are finger members, 7a and 7b are worm wheels, and 8 is a worm.

Claims

[Scope of Claim for Utility Model Registration] In a manipulator that opens and closes finger members by driving a worm gear mechanism with a motor, a switch that outputs a close command to close the finger members, and a switch that outputs an open command to open the finger members. , a drive device that supplies current to the motor in accordance with a current command; a current detection device that detects the current flowing through the motor; When the current is below a certain value, a current command that generates a torque of _T1 is output only during the close command, and when the current exceeds a certain value, a current command that generates a torque _T2 that is greater than _T1 is output at a constant value. The time is output, and after this certain period of time elapses, the torque T ₃ is smaller than T ₂ until the opening command is input. When an open command is input, the drive device supplies a current to open the finger member to the motor, and generates a torque _T4 that is greater than the torque that releases the self-lock of the worm gear mechanism in response to the input of the first open command. A control device for a manipulator, comprising: a current command device that outputs a current command that generates a torque _T5 smaller than _T4 in response to input of a subsequent open command; .