JPH01170582U - - Google Patents
Info
- Publication number
- JPH01170582U JPH01170582U JP6838088U JP6838088U JPH01170582U JP H01170582 U JPH01170582 U JP H01170582U JP 6838088 U JP6838088 U JP 6838088U JP 6838088 U JP6838088 U JP 6838088U JP H01170582 U JPH01170582 U JP H01170582U
- Authority
- JP
- Japan
- Prior art keywords
- robot hand
- motor
- potentiometer
- gripping state
- detected
- 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.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims 3
- 238000010586 diagram Methods 0.000 description 3
Landscapes
- Feedback Control In General (AREA)
- Control Of Position Or Direction (AREA)
Description
第１図はハンドコントローラの概略構成を示す
ブロツク図、第２図は直流電動機とロボツト用ハ
ンドとの関係を示す概略図、第３図はこの考案の
把持力制御装置を組込んだロボツト制御装置の概
略構成を示すブロツク図、第４図は従来のロボツ
ト用ハンド駆動装置を概略的に示すブロツク図。
５……ハンドプロセツサ、９……直流電動機、
１０……ロボツト用ハンド、１１……リニア型ポ
テンシヨメータ。
Fig. 1 is a block diagram showing the general configuration of the hand controller, Fig. 2 is a schematic diagram showing the relationship between the DC motor and the robot hand, and Fig. 3 is a robot control device incorporating the gripping force control device of this invention. FIG. 4 is a block diagram schematically showing a conventional robot hand drive device. 5...Hand processor, 9...DC motor,
10... Robot hand, 11... Linear type potentiometer.
Claims (1)
と、ロボツト用ハンド１０の位置を直接検出する
ポテンシヨメータ１１と、ポテンシヨメータ１１
から出力される位置検出信号に基いてワーク把持
状態を検出する検出手段５と、検出手段５により
ワーク把持状態が検出されるまでの間は所定のハ
ンド移動速度を達成することができる電圧信号を
直流電動機９に印加し、ワーク把持状態が検出さ
れた後は所定の把持力を達成することができる電
圧信号を直流電動機９に印加する電圧制御手段５
とを有していることを特徴とするロボツト用ハン
ドの把持力制御装置。 DC motor 9 that drives the robot hand 10
, a potentiometer 11 that directly detects the position of the robot hand 10, and a potentiometer 11.
A detection means 5 detects the workpiece gripping state based on a position detection signal output from the detector 5, and a voltage signal capable of achieving a predetermined hand movement speed until the workpiece gripping state is detected by the detection means 5. Voltage control means 5 that applies a voltage signal to the DC motor 9 that can achieve a predetermined gripping force after the workpiece gripping state is detected.
1. A gripping force control device for a robot hand, comprising:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6838088U JPH01170582U (en) | 1988-05-24 | 1988-05-24 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6838088U JPH01170582U (en) | 1988-05-24 | 1988-05-24 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH01170582U true JPH01170582U (en) | 1989-12-01 |
Family
ID=31293702
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6838088U Pending JPH01170582U (en) | 1988-05-24 | 1988-05-24 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH01170582U (en) |
-
1988
- 1988-05-24 JP JP6838088U patent/JPH01170582U/ja active Pending