JPH018307Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to a multifunctional robot hand used for storing and transporting thin films or thin film-like works in cassettes.

[Background of the idea]

This type of robot hand requires both functions: a function to pick up a workpiece and hold the workpiece in a predetermined posture (hereinafter referred to as the pick function), and a function to grip the cassette (hereinafter referred to as the grip function). do.

In the prior art, there is no small robot hand for assembly that has both of the above functions, and the structure is such that multiple types of single-function robot hands are installed and replaced.
For this reason, (a) it is necessary to provide a means for automatic hand exchange, (b) there are technical difficulties in replacing the power transmission means associated with hand exchange, and (c) in order to eliminate the above-mentioned difficulties. If an air drive source is used for this purpose, there are problems such as: (d) it is difficult to detect the condition of the joint; and (d) it takes time to replace the hand, which reduces work efficiency.

[Purpose of invention]

This idea was created in view of the above circumstances.
It is small and lightweight, has a grip function and a grip function, and can detect the operating status of both of the above-mentioned functional members without providing a separate sensor.Furthermore, the operating status of both of the above-mentioned functional members can be detected without providing a separate brake means. The purpose of the present invention is to provide a multifunctional robot hand that can maintain each operating posture.

[Summary of the idea]

In order to achieve the above object, the robot hand of the present invention is provided with a grip holder that is rotated by a DC servo motor, and the grip holder has a suction base, a pair of gripping claws, and a pair of gripping claws. It is equipped with a DC motor that drives the opening and closing, and also drives the grip holder and gripping claws mentioned above.
Each DC servo motor is equipped with a means to detect the current value, and when the detected current value exceeds a preset value that is greater than the rated value, the supply voltage of the DC servo motor is controlled and 1
The present invention is characterized in that a means for maintaining the current value is provided.

[Example of idea]

Next, one embodiment of the present invention will be described with reference to FIGS. 1 and 2.

FIG. 1 is a front view of one embodiment of the multifunctional robot hand of the present invention, and FIG. 2 is a control system diagram thereof.

A grip holder 3 is rotatably supported by a grip support shaft 2 to a base member 1 of a robot hand, and a suction base 4 is mounted on the grip holder 3.

A stopper (not shown) is provided on the base member 1 to regulate the rotation angle of the grip holder 3. In this figure, when the base member 1 is rotated clockwise, the position A is shown as a solid line, and when it is rotated counterclockwise, the position is shown as a chain line. Configure it to have the B posture shown. In posture A, the suction surface of suction base 4 is vertical, and in posture B, it is set horizontally. 4' drawn with a chain line represents the suction base in a horizontal position.

In order to rotate the grip holder 3 between the A position and the B position, a DC servo motor 5 is attached to the base member, and a timing pulley 8 is fixed to the grip holder 3 via bevel gears 6a, 6b and a timing belt 7. is configured to be rotationally driven. This causes the grip holder 3 to
It is driven by a servo motor 5 and rotates around the support shaft 2.

Further, a claw 10 is slidably supported on the grip holder 3 via a slider 9.

Although one pair of the above-mentioned claws 10 is provided, in this figure, only one is drawn, overlapping each other.

The pair of claws 10 are brought close to each other perpendicular to the paper surface,
A DC servo motor 11 is provided to open and close the motor bracket 11a at a distance.
It is mounted on the grip holder 3 via. On the other hand, a crankshaft 12 is provided, and the crank pin portion of the crankshaft 12 and the pair of pawls 10 are connected by connecting rods 13, respectively. 14a and 14b are transmission bevel gears, 15 is a timing belt, and 1
6 is also a reduction gear.

The above is the mechanical configuration of this embodiment, and when the DC servo motor 11 is operated, the pair of pawls 10 open and close to perform the grip function. Further, when the DC servo motor 5 is operated, the suction base is rotated between the position 4 and the position 4' to perform the picking function.

In order for the above-mentioned robot hand to perform a practical function, it is necessary to detect that the pair of claws 10, which are grip function members, are in the open or closed position and maintain that position.

Similarly, it is necessary to detect that the grip holder 3, which is a grip function member, is in the A posture or the B posture and maintain that posture.

For the above posture detection and posture maintenance, the above
DC servo motors 5 and 11 each have a second
A control mechanism as shown in the figure is provided.

In this figure, the aforementioned DC servo motor 5,
Or it shows 11. DC servo motors 5 and 11 via electric wire 17 and current detection unit 18
A DC drive current 19 is supplied to.

When the aforementioned grip holder 3 or claw 10 reaches the stroke end, the DC motor 5 or the same 11
Since the load becomes extremely large and the rotation is stopped, the current becomes much larger than the rated value. Therefore, the current detection section 18 is configured to send a current signal 20 to the control section 21, which means that the stroke end has been reached, when the above-mentioned current value exceeds a preset value equal to or higher than the rated current.

When the control unit 21 receives the above current signal 20,
In addition to feeding back the arm signal 22, the voltage of the power supplied from the control power supply (DC 24 volts) 23 is controlled, and a drive current of about a fraction of the rated current of the DC servo motor is applied to the DC servo motor. supply

As a result, the DC servo motor 5 or 11
The grip holder 3 or pawl 10 at the stroke end position is electrically slipped while being pressed against the stopper with a weak force (mechanically, the motor is stopped) to maintain the position of the grip holder 3 or pawl 10.

The above-mentioned weak force means a force that can overcome the reaction force and friction force due to the actuating member's own weight, and its specific magnitude can be determined as appropriate from a design standpoint. Qualitatively, it is sufficient to set the temperature to a level that is sufficient to maintain the position of the actuating member and does not generate harmful heat. In this embodiment, the torque is set to 1/4 of the rated torque.

[Effect of idea]

As detailed above, the robot hand of the present invention includes a grip holder that is rotated by a DC servo motor, and a suction base, a pair of gripping claws, and the pair of gripping claws are attached to the grip holder. The DC servo motor that drives the grip holder and the gripping claws is equipped with a DC motor that drives the opening and closing, and is equipped with a means for detecting the current value. With a simple structure that includes a means to control the supply voltage of the DC servo motor to maintain a current value that is a fraction of the rated value when the value exceeds the specified value, it is small and lightweight and has both the lock function and the grip function. Moreover, it is possible to detect the operating states of the above-mentioned functional members without providing a separate sensor, and furthermore, it is possible to maintain the respective operating postures of the above-mentioned functional members without providing a separate braking means. It has practical effects.

[Brief explanation of drawings]

FIG. 1 is a front view of one embodiment of the multifunctional robot hand of the present invention, and FIG. 2 is a control system diagram. 1...Base member, 2...Grip support shaft, 3
...Grip holder, 4...Adsorption base, 5...
DC servo motor, 6a, 6b...Bevel gear, 7...
...Timing belt, 8...Timing pulley,
9...Slider, 10...Claw, 11...DC servo motor, 11a...Motor bracket, 12...
...Crankshaft, 13...Connection rod, 14a, 14b
...Bevel gear, 15...Timing belt, 16...
...Reduction gear, 17...Electric wire.

Claims (1)

[Scope of utility model registration request] A grip holder is provided that is rotated by a DC servo motor, and the grip holder is equipped with a suction base, a pair of gripping claws, and a DC motor that drives the pair of gripping claws to open and close. Each of the DC servo motors that drive the grip holder and gripping claws is provided with a means to detect the current value, and when the detected current value exceeds a preset value that is greater than the rated value, the supply voltage of the DC servo motor is A multifunctional robot hand characterized by being provided with means for controlling the current value to maintain a current value that is a fraction of the rated value.