JPH01274987A - Gripper device - Google Patents

Abstract

PURPOSE:To give an action of two freedom degrees to an article to be gripped, reduce actions of a manipulator arm, and make it possible to change the attitude of the gripped article by providing a drive means to actuate the gripper part of two fingers separately from opening and closing action of the fingers. CONSTITUTION:One of screw rods 17A, 17B is rotated through a shaft 19' by a motor 20 inside a gripper case 8A to slide two gripping members 16A, 16B disposed on the side of one finger 4A' in reverse directions through gears 21A, 21B, so the inclination of the rods gripped between the fingers 4A, 4A' are adjusted. In the meanwhile, the gripping member 16 provided on the side of one finger 4A is slided by a screw rod 17 rotated by the drive of the motor 20 through a shaft 19, so the gripped rod is rotated about its axis, thereby a protrusion of the rod is applied to a cut in a hole.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a gripper device, and in particular, a gripper device suitable for those requiring dexterity, such as a gripper for a manipulator that performs work by remote control. It is related to.

[Conventional technology]

The most common type of end effector, which can be called a peripheral tissue that works in response to stimulation from the nerve center, such as the end effector of a remote control manipulator, is the Manipulator Type Book.
Book; Verlag Karl Thj,e
It is a two-fingered tong-shaped gripper, as many examples are shown in (mig).

Specialized tools may be attached to the manipulator's hands for special tasks, but these tools can only be used for a single task, and two-finger tongs are most commonly used for general tasks.

On the other hand, the fingers have joints like human fingers.

Multi-degree-of-freedom hands that can simulate finger movements are being researched, but these have practical problems because the finger drive mechanism is complex and large-scale, and they are rarely used for purposes other than research.

[111IM to be Solved by the Invention] The conventional technology will be explained with reference to FIGS. 3 to 5.

FIG. 3 is a sectional view of a conventional two-finger gripper, FIG. 4 is a front view showing operational problems of the conventional gripper, and FIG. 5 is a side view of FIG. 4.

The two-finger gripper shown in Figure 3 has a parallel link of 1°2.1'
, 2', and a screw type drive mechanism 3, the two fingers 4, 4' forming a pair are driven by one motor 5 to open and close, and the operation is only one movement of opening and closing the fingers. be.

When using such a two-finger gripper to insert a bar 6 with a protrusion 9 into a hole 7 with a notch 10 as shown in FIGS. 4 and 5, the gripped bar 6 is Since it is fixed to the gripper 8, the gripper 8 as a whole must be rotated in order to align the protrusion 9 with the notch. When trying to rotate the gripper 8 around , the wrist joint 11 of the manipulator must move its position (arrow) at the same time as the rotation.

This requires moving the entire manipulator (not shown).

Furthermore, as shown in FIG. 5, even when the shaft 6 is inclined with respect to the hole 7 into which it is to be inserted, the wrist joint 12 must perform a combined motion of rotation and movement (arrow), and the entire manipulator must be moved. For this reason, there was a problem in that the efficiency of one operation was reduced.

The present invention has been made to solve the problems in the prior art described above, and the present invention makes the gripping parts of two fingers movable to give the gripped object two degrees of freedom of movement, thereby reducing the movement of the manipulator arm. It is an object of the present invention to provide a gripper device that makes it possible to change the attitude of a gripped object.

[Means to solve the problem]

In order to achieve the above object, a gripper device according to the present invention has a configuration that includes two fingers forming a pair and an opening/closing means for the fingers to grip an object. The gripping member is configured to have a gripping member that can perform linear or rotational movement relative to the body portions of the two fingers, and is provided with a driving means that can operate the gripping member independently of the opening and closing of the fingers. It is something.

The concept behind the development of the present invention and the principle of the invention will be explained with reference to FIGS. 6 to 9.

6 and 7 are functional explanatory diagrams of a human finger, FIG. 8 is a front view illustrating the operating principle of the gripper of the present invention, and FIG. 9 is a side view of FIG. 8. In FIGS. 8 and 9, the same reference numerals as those in FIGS. 9 and 5 are the same parts as those in the prior art, so the explanation thereof will be omitted.

For example, when the human hand 13 holds a brush 14.

As shown by the arrows in FIGS. 6 and 7, the direction of the brush 14 is corrected or the inclination is adjusted using finger movements. Therefore, there is no need to move your wrist much. This finger function greatly contributes to manual dexterity. Therefore, by giving the gripper the function of this finger, the gripper can move the object while gripping the object, thereby reducing wrist movement.

For this purpose, as shown in FIGS. 8 and 9, the gripping member 15 having the inner side of the two fingers 4, 4' forming a pair on the gripper 8, that is, the surface that contacts the object, is attached to the gripper 8 with the fingers 4, 4'. 'The gripping member 15 may be configured separately from the main body and operated.

Three degrees of freedom are generally required to adjust the tilt of an object, and in most cases the manipulator is capable of rotational movement around the central axis of the end effector, and the centerline of this rotational movement passes through the object.

It is not necessary to move the entire manipulator significantly to impart this rotational motion to the object; therefore, the fingers only need to be able to move in two degrees of freedom.

[Effect]

The operation of the above technical means is as shown in the operational principle diagrams shown in FIGS. 8 and 9.

As shown in FIG. 8, the gripping member 15 inside the fingers 4, 4'
By linearly moving (sliding) the bar in the direction of the arrow, rotational movement is given to the bar 6 in the direction of the arrow, and the protrusion 9 of the bar 6 can be aligned with the notch 10 of the hole 7.

Further, as shown in FIG. 9, by rotating the gripping member 15 and moving #6 in the direction of the arrow, the inclination of the rod 6 is adjusted and the hole 7
can be inserted correctly.

〔Example〕

Embodiments of the present invention will be described below with reference to FIGS. 1, 2, and 10.
This will be explained with reference to FIGS.

FIG. 1 is a longitudinal cross-sectional view of a gripper device according to an embodiment of the present invention, and FIG. 2 is a plan view of the finger portion of the gripper device.
Components with the same reference numerals as those in the drawings have the same functions as those in the prior art, so their explanations will be omitted.

That is, the opening/closing mechanism of the two fingers 4A, 4A' forming a pair is the same as that shown in FIG.

The grip portion of the finger 4A is a grip member 16 independent from the body of the finger 4A. Carriage 16 of this gripping member 16
A guide pin 18 is screwed onto a threaded rod 17 so that the rotation of the threaded rod causes the gripping member 16 to slide (linear movement) in the axial direction of the gripper device (vertical direction in FIG. 1). It passes through the carriage 16c and is fixed to the body of the finger 4A to prevent rotation of the first gripping member 16. The threaded rod 17 is driven by a motor 20 in the gripper case 8A via a flexible rotating shaft 19.

Two gripping members 16A and 16B are provided on the finger 4A' side and are slid by threaded rods 17A and 17B, respectively. The screws 17A, 17B are gears 21A, 21
B, and they rotate in opposite directions. Therefore, the gripping member 16A.

16B slides in the opposite direction. Threaded rod 17A.

17B is driven by a motor 2o within the gripper case 8A via a flexible rotating shaft 19'.

Since rotational slip occurs on the contact surfaces of the gripping members 16, 16A, and 16B that grip objects, it is desirable that the gripping surfaces be formed in a chevron shape to reduce frictional force and facilitate movement.

With such a gripper device, the finger 4A.

Gripping members 16, 16A by opening/closing means 4A'.

By gripping an object between the grippers 16B and sliding the gripping member 16, it is possible to impart rotational motion to the object as shown in the principle in FIG.

Furthermore, when the gripping members 16A and 16B are actuated, they move linearly in opposite directions to each other, rotating the gripping members as shown in the principle in FIG. 9, thereby changing the inclination of the object; ! can do.

According to this embodiment, since the attitude of the gripped object can be changed without moving the gripper, the operation of the manipulator arm can be reduced and work efficiency can be improved.

Next, FIG. 10 is a longitudinal sectional view of a gripper device according to another embodiment of the present invention, and FIG. 11 is a plan view of the finger portion thereof. In FIG. Since this is the same part as the previous embodiment, the explanation thereof will be omitted.

The opening/closing mechanism of the two fingers 4B, 4B' forming a pair is the same as that shown in FIG.

Two rollers 23 rotatably attached to the frame member 22 constitute a gripping member on the gripping portion of the finger 4B. The frame member 22 is rotatably supported by a shaft 24 on the body of the finger 4B. A pulley 25 is fitted on this shaft 24, and a motor 2 in the gripper case 8B is mounted on the - side.
7 is provided with a motor pulley 27a. Pulley 2
A wire 28 is wound around the 5° motor pulley 27a and guided by a flexible wire guide 26. As a result, the frame member 22 to which the two rollers 23 are attached is rotationally driven by the motor 27.

For the other finger 4B', there are also two rollers 2 on the frame member 22' which is rotatably supported by the shaft 24'.
3' is rotatably supported.

A pulley 29 is attached to the upper end of one of the two rollers 23', and a motor pulley 31a is provided on the motor 31 in the gripper case 8B. Pulley 29. The wire 3 is connected to the motor pulley 31a.
2 is rolled up and guided by a flexible wire guide 30.

As a result, the roller 23' is rotationally driven by the motor 31.

In the gripper device shown in FIG. 10, the frame member 22' is normally in the state shown in FIG. 10 due to the elasticity of the wire guide 30, and when an object is gripped by the rollers 23, 23' and the frame member 22 is moved, The frame member 22' also rotates together with the object. Then, by driving the roller 23', rotational motion can be given to the object.

According to the embodiment shown in FIG. 10, the posture of the gripped object can be changed without moving the gripper, so the operation of the manipulator arm can be reduced and work efficiency can be improved.

The mechanism shown in FIGS. 1 and 10 is a driving means that can operate the gripping member that can perform linear or rotational movement with respect to the main bodies of the two fingers, independently of the opening and closing of the fingers. It is not limited to.

〔Effect of the invention〕

As described above, according to the present invention, the gripping parts of the two fingers are movable to give the gripped object two degrees of freedom of movement, and the posture of one gripped object can be changed by reducing the movement of the manipulator arm. It is possible to provide a gripper device that enables this.

[Brief explanation of the drawing]

FIG. 1 is a longitudinal cross-sectional view of a gripper device according to an embodiment of the present invention, FIG. 2 is a plan view of the finger portion thereof, FIG. 3 is a cross-sectional view of a conventional two-finger gripper, and FIG. , FIG. 5 is a side view of FIG. 4, FIG. 6 and FIG. 7 are functional diagrams of a human finger, and FIG. 8 is a diagram of the present invention. Front view illustrating the operating principle of the gripper, No. 9
The figures are a side view of FIG. 8, FIG. 10 is a longitudinal sectional view of a gripper device according to another embodiment of the present invention, and FIG. 11 is a plan view of the finger portion thereof. 1.1', 2.2'...Parallel link, 3...Screw drive mechanism, 4.4', 4A, 4A', 4B, 4B
'...Finger, 8A, 8B...Gripper case, 16.
16A. 16B... Gripping member, 17. 17A, 17B... Threaded rod, 19, 19'... Flexible rotating shaft, 20° 20'... Motor, 21A, 21B... Gear, 22
゜22'...Frame member, 23,23'...Roller, 2
7゜31...Motor, 25.29...Boo IJ, 2
6,30...Wire guide, 28.32...Wire. Agent Patent Attorney Katsuo Ogawa 41゛゛(,-“ No./I!1 4A, 4B...Finger 2/A, 2115...Gear No. 2 Z/A, 21B-...#J Car No. 3 5th mouth 6th mouth 7th day 8th mouth 9th mouth 70th mouth 2δ, 3?...Wire

Claims (1)

[Claims] 1. In a gripper device that grips an object by having two fingers forming a pair and means for opening and closing the fingers, the portion of the fingers that comes into contact with the gripped object is 1. A gripper device comprising a gripping member capable of performing linear or rotational movement relative to the main body, and further comprising a drive means capable of operating the gripping member independently of opening and closing of the fingers. 2. In the product described in claim 1, there are two grips in which the gripping member of one of the two fingers is capable of linear movement, and the gripping member of the other finger is capable of linear movement in mutually opposite directions. A gripper device characterized in that each of the gripping members is connected to a drive means. 3. In the product described in claim 1, the gripping members of the two fingers are two rotary rollers each attached to a frame member, and a rotary drive means for rotating the frame member and the rotary roller is provided. A gripper device characterized by: