JPH03277489A - Gripper - Google Patents
GripperInfo
- Publication number
- JPH03277489A JPH03277489A JP7498890A JP7498890A JPH03277489A JP H03277489 A JPH03277489 A JP H03277489A JP 7498890 A JP7498890 A JP 7498890A JP 7498890 A JP7498890 A JP 7498890A JP H03277489 A JPH03277489 A JP H03277489A
- Authority
- JP
- Japan
- Prior art keywords
- gripper
- cantilever type
- gripping
- gripping arms
- type force
- 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 description 2
- 238000000034 method Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 239000010408 film Substances 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000010409 thin film Substances 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
(産業上の利用分野)
本発明は把握力の検出において、片持梁型力センサを採
用したグリッパの構成に関する。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to the configuration of a gripper that employs a cantilever type force sensor in detecting gripping force.
(従来の技術)
従来より採用されている把握力検出方式としては、エア
一方式やモータ駆動方式があった。エア一方式の場合に
は、供給されるエアーに比例して、把握力を調整する構
成を有する。又モータ駆動方式の場合には、駆動モータ
への供給電源電圧を変化させることにより把握力の調整
を行うものである。(Prior Art) Grasping force detection methods that have been used in the past include an air-only method and a motor-driven method. In the case of a one-air type, the gripping force is adjusted in proportion to the supplied air. In the case of a motor drive system, the gripping force is adjusted by changing the power supply voltage supplied to the drive motor.
(発明が解決しようとする課題)
従来例のエア一方式及びモータ駆動方式においては、グ
リッパの把握力の設定のためにはそれぞれエアーの圧力
の設定、モータのトルクの設定を行うことが必要であり
、それがため圧力設定のために供給するエアー量、供給
電源の安定化等を計らねばならない、又ワークが所定位
置に存在しない場合等に、把握作業を実施する際には、
ワークのいずれか一方の側に過負荷がかかり、それがた
めワークに変形やキズが発生し、定位置運送が不可能と
なる等の問題点があり、その結果ワークによる精密な組
立の実施の障害となる等の欠陥が存在していた。(Problem to be Solved by the Invention) In the conventional air-only type and motor-driven type, in order to set the gripping force of the gripper, it is necessary to set the air pressure and the motor torque, respectively. Therefore, it is necessary to stabilize the amount of air supplied to set the pressure and the power supply, and when carrying out grasping work when the workpiece is not in the specified position, etc.
Overload is applied to either side of the workpiece, which causes deformation or scratches on the workpiece, making it impossible to transport the workpiece in a fixed position.As a result, it becomes difficult to carry out precise assembly using the workpiece. There were defects that caused obstacles.
本発明は前述の問題点を解決することを目的とするもの
である。The present invention aims to solve the above-mentioned problems.
(課題を解決するための手段)
前記目的を達成するための手段として、次の構成を提供
する。(Means for Solving the Problem) As a means for achieving the above object, the following configuration is provided.
すなわち、把握力の安定化を計るために、グリッパの把
握用アーム内に片持梁型力センサを配設したものである
。That is, in order to stabilize the gripping force, a cantilever type force sensor is disposed within the gripping arm of the gripper.
これにより供給エア、供給電源の変化に起因する不安定
要素を除去することが可能となる。This makes it possible to eliminate unstable factors caused by changes in supplied air and supplied power.
(作 用)
本発明の片持梁型力センサを採用することにより、把握
用アームの把握力の安定化を計り、長期間信頼性の高い
グリッパを得るものであり、精度の高い把握力設定が容
易に達成される。(Function) By adopting the cantilever type force sensor of the present invention, the gripping force of the gripping arm is stabilized, a gripper with high reliability for a long period of time is obtained, and the gripping force can be set with high precision. is easily achieved.
(実施例)
以下添付図面を参照して、本発明に係る実施例を説明す
る。(Example) Examples according to the present invention will be described below with reference to the accompanying drawings.
添付図面において、符号1はグリッパ本体4に立設した
把握用アーム、2は把握用アーム2に設けた片持梁型力
センサ、3はセンサ2上に設けたフックである。更に詳
説すれば、片持梁型力センサ2を、グリッパ本体4に並
列に互いに対面するように立設した水平方向へ変位可能
な把握用アーム1の内側に装着する。In the accompanying drawings, reference numeral 1 designates a grasping arm installed upright on the gripper body 4, 2 a cantilever type force sensor provided on the grasping arm 2, and 3 a hook provided on the sensor 2. More specifically, the cantilever type force sensor 2 is attached to the inner side of the horizontally movable grasping arm 1 which is erected in parallel to the gripper body 4 so as to face each other.
又それぞれの片持梁型力センサ2上にはフック3を互い
に対面するように設ける。一対の把握用アーム1は互い
に対面しつつ矢印Sで示す方向へ移動して、フック3に
より一対の把握用アーム1間に存在する物体を把握した
り、把握を除去したりするものである。Furthermore, hooks 3 are provided on each cantilever type force sensor 2 so as to face each other. The pair of grasping arms 1 move in the direction shown by the arrow S while facing each other, and use the hooks 3 to grasp or remove objects present between the pair of grasping arms 1.
片持梁型力センサについて以下説明する。The cantilever type force sensor will be explained below.
感圧エレメント上に、形成された厚膜型ひずみゲージ又
は薄膜型ひずみゲージでブリッジ回路を構成し、前記ひ
ずみゲージが力を受けると大きく抵抗変化するピエゾ抵
抗効果を利用して、エレメントのひずみをより正確に検
出して、これを電気的抵抗に変換するものである。本発
明においては、一対のアームにそれぞれ片持梁型力セン
サを設けることにより、把握すべき物体を両側面より一
定の把握力により正確に把握するものである。A bridge circuit is configured with a thick-film strain gauge or a thin-film strain gauge formed on a pressure-sensitive element, and the strain of the element is measured by utilizing the piezoresistance effect that causes a large resistance change when the strain gauge receives force. It detects it more accurately and converts it into electrical resistance. In the present invention, by providing a cantilever type force sensor on each of the pair of arms, an object to be grasped can be accurately grasped from both sides with a constant grasping force.
尚実施例のグリッパの駆動源は、エア方式、電気式、流
体式のいずれを使用してもよい。The drive source for the gripper in the embodiment may be an air type, an electric type, or a fluid type.
(効 果)
本発明においては、片持梁型力センサを一対の把握用ア
ームに組込んだ構成であるから、その把握力が安定して
おり、信頼性の高いグリッパを得るものであり、高精度
の把握力設定が容易となる等の効果がある。(Effects) In the present invention, since the cantilever type force sensor is incorporated into a pair of gripping arms, the gripping force thereof is stable and a highly reliable gripper is obtained. This has the effect of making it easier to set the gripping force with high precision.
添付図面は本発明に係るグリッパの側面図である。 The accompanying drawing is a side view of a gripper according to the invention.
Claims (1)
に把握力検出手段として、片持梁型力センサを設けたこ
とを特徴とするグリッパ。A gripper characterized in that a cantilever-type force sensor is provided as a gripping force detection means on a gripping arm that is erected to face the gripper body.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP7498890A JPH03277489A (en) | 1990-03-24 | 1990-03-24 | Gripper |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP7498890A JPH03277489A (en) | 1990-03-24 | 1990-03-24 | Gripper |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH03277489A true JPH03277489A (en) | 1991-12-09 |
Family
ID=13563170
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP7498890A Pending JPH03277489A (en) | 1990-03-24 | 1990-03-24 | Gripper |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH03277489A (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113670492A (en) * | 2021-08-19 | 2021-11-19 | 西安电子工程研究所 | Bearing clamping force detection device for arc tooth type position marker |
-
1990
- 1990-03-24 JP JP7498890A patent/JPH03277489A/en active Pending
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113670492A (en) * | 2021-08-19 | 2021-11-19 | 西安电子工程研究所 | Bearing clamping force detection device for arc tooth type position marker |
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