JPH04343696A - Holding device - Google Patents
Holding deviceInfo
- Publication number
- JPH04343696A JPH04343696A JP11743991A JP11743991A JPH04343696A JP H04343696 A JPH04343696 A JP H04343696A JP 11743991 A JP11743991 A JP 11743991A JP 11743991 A JP11743991 A JP 11743991A JP H04343696 A JPH04343696 A JP H04343696A
- Authority
- JP
- Japan
- Prior art keywords
- gripping
- claws
- holding
- claw
- 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
- 210000000078 claw Anatomy 0.000 claims abstract description 55
- 239000004020 conductor Substances 0.000 claims description 9
- 239000002184 metal Substances 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 7
- 238000013459 approach Methods 0.000 description 3
- 239000012530 fluid Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 101000582320 Homo sapiens Neurogenic differentiation factor 6 Proteins 0.000 description 1
- 102100030589 Neurogenic differentiation factor 6 Human genes 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
Description
【0001】0001
【産業上の利用分野】本発明は、径の異なる数種類の円
筒状のワークを移載するための工業用ロボット等に取り
付ける把持装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a gripping device attached to an industrial robot or the like for transferring several types of cylindrical workpieces having different diameters.
【0002】0002
【従来の技術】この種の従来の装置は、実用新案公報昭
58−15106に記載のように、一つの駆動源で複数
個の把持爪の内の一つを動作させ、この動作をリンク機
構により他の複数の把持爪に伝達し、把持爪の開閉道さ
を行わせるようになっていた。又、被把持物の確認につ
いては、把持爪に検出器を設け、被把持物を直接検出す
るか、又は、簡易的に駆動源の流体シリンダ内部の圧力
変化を検出する方法が取られていた。2. Description of the Related Art A conventional device of this kind, as described in Utility Model Publication No. 15106/1980, uses a single drive source to operate one of a plurality of gripping claws, and this operation is controlled by a link mechanism. This signal is transmitted to a plurality of other gripping claws to open and close the gripping claws. In addition, in order to confirm the object to be grasped, a detector was installed in the gripping claw to directly detect the object to be grasped, or a method was used in which a simple method was used to detect pressure changes inside the fluid cylinder of the drive source. .
【0003】0003
【発明が解決しようとする課題】上記従来技術は、プリ
ント基板等の軽量ワークを把持することが目的であり、
重量ワークを把持するためには、駆動源の力を伝達する
ためのリンク機構に機械的な剛性が必要となり、装置全
体が大きくなる欠点を持っている。又、被把持物の検出
について、検出器で被把持物を直接検出する場合、被把
持物と把持爪が当接する部位の経常により検出できない
場合があり、又、流体シリンダ内部の圧力変化を検出す
る方法では、異常な位置、例えばワークを把持完了しな
いで機械的に把持爪が拘束された場合に誤った信号を出
力するといった欠点を持っている。[Problem to be Solved by the Invention] The purpose of the above-mentioned prior art is to grip a lightweight work such as a printed circuit board,
In order to grip a heavy workpiece, the link mechanism for transmitting the force of the driving source requires mechanical rigidity, which has the disadvantage of increasing the size of the entire device. In addition, regarding the detection of the grasped object, when directly detecting the grasped object with a detector, it may not be possible to detect the grasped object due to the condition of the part where the grasped object and the grasping claw come into contact, and it may not be possible to detect the grasped object due to changes in pressure inside the fluid cylinder. This method has the disadvantage that an erroneous signal is output when the gripping claws are mechanically restrained at an abnormal position, for example, before gripping the workpiece is completed.
【0004】本発明は、上記欠点を解決すると共に、コ
ンパクトで強い把持力を発生する把持装置を提供するこ
とにある。SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned drawbacks and to provide a gripping device that is compact and generates a strong gripping force.
【0005】[0005]
【課題を解決するための手段】上記目的を達成するため
に、複数個の把持爪と1個の駆動源を把持爪は把持中心
より放射上に、駆動源は把持中心軸方向に設け、該駆動
源の出力軸を前記各把持爪に前記把持爪が同期的に開閉
移動可能にするためのリンクを介して連結し、前記把持
爪に直接把持力を発生させるようにした。[Means for Solving the Problems] In order to achieve the above object, a plurality of gripping claws and a driving source are provided, the gripping claws are provided radially from the gripping center, and the driving source is provided in the direction of the gripping center axis. The output shaft of the drive source is connected to each of the gripping claws via a link that enables the gripping claws to open and close synchronously, so that a gripping force is directly generated in the gripping claws.
【0006】さらに、被把持物が金属体の場合に、把持
状態を確認するために、2本以上の前記把持爪の先端に
伝導体を設置した。Furthermore, when the object to be gripped is a metal object, a conductor is installed at the tips of two or more of the gripping claws in order to confirm the gripping state.
【0007】[0007]
【作用】駆動源への流体の供給を同時に切り替えて進退
させると、出力軸にリンクを介して連結されている把持
爪は把持中心より放射上に同期的に互いに接近、あるい
は離間する。[Operation] When the fluid supply to the drive source is simultaneously switched and moved forward and backward, the gripping claws connected to the output shaft via a link radially approach or separate from each other synchronously from the gripping center.
【0008】そして、装置の把持力(F)も、図4に示
すようにワークの把持径(y)が増え重量が増すごとに
、それに追従して増加していき、しかも図6,図8に示
すように爪のワ−ク把持部で最大の力が発生するもので
ある。又、被把持物が金属体の場合に、2本以上の前記
把持爪の先端に設置した伝導体に、被把持物を把持した
時に、前記被把持物により前記伝導体が短絡され電流が
流れることにより、被把持物を把持したことを確認でき
る。As shown in FIG. 4, the gripping force (F) of the device also increases as the gripping diameter (y) of the workpiece increases and the weight increases. As shown in Figure 2, the maximum force is generated at the part where the claw grips the workpiece. Further, when the object to be grasped is a metal object, when the object to be grasped is grasped, the conductor is short-circuited by the object to be grasped, and a current flows through the conductor installed at the tips of the two or more gripping claws. This makes it possible to confirm that the object to be grasped has been grasped.
【0009】[0009]
【実施例】以下、本発明の一実施例を図1および図2に
より説明する。Embodiment An embodiment of the present invention will be described below with reference to FIGS. 1 and 2.
【0010】1は工業用ロボット等の手首先端に取付け
られている。ベース1の下面にはベース1の下面と平行
な平面で、ベース1の中心軸方向にピストン7が動作す
るように、エアシリンダ5が取り付けられている。把持
爪2、2a〜2cは、ピストン7の一端にリンク3を介
して固定されている。把持爪2の先端には、伝導体8が
2個取り付かれている。各エアシリンダ5への給気を切
り替えてピストン7を進退させると、各把持爪2、2a
〜2cはベース板の中心より放射状に互いに接近または
離間移動する。この時、各把持爪2、2a〜2cは各リ
ンク3、3a〜3cを介してピストン7に互いに連結さ
れているため同期して開閉を行う。従って被把持物9の
内径が変化しても、各把持爪2、2a〜2cの各々の移
動量は同量となり常に中心一定の高い精度で把持するこ
とが出来る。さらに、各把持爪2、2a〜2cの各々の
移動ストロークは大きく、最大ワークと最小ワークの間
をかなり広く許容可能である。そして、本実施例では、
よりワークを安定して把持するために把持爪を3本にし
てあり、そのためにピストン7および各把持爪2、2a
〜2cにおけるリンク3、3a〜3cの取り付け位置を
コンパクト化のために上下にずらしており、そのことも
一つの特徴にしている。Reference numeral 1 is attached to the tip of the wrist of an industrial robot or the like. An air cylinder 5 is attached to the lower surface of the base 1 so that a piston 7 moves in the direction of the central axis of the base 1 on a plane parallel to the lower surface of the base 1. The gripping claws 2, 2a to 2c are fixed to one end of the piston 7 via a link 3. Two conductors 8 are attached to the tips of the gripping claws 2. When switching the air supply to each air cylinder 5 and moving the piston 7 forward or backward, each gripping claw 2, 2a
2c move toward or away from each other radially from the center of the base plate. At this time, the gripping claws 2, 2a to 2c are connected to the piston 7 via the links 3, 3a to 3c, and therefore open and close in synchronization. Therefore, even if the inner diameter of the object to be gripped 9 changes, the amount of movement of each of the gripping claws 2, 2a to 2c is the same, so that the object can be gripped with high accuracy with a constant center. Furthermore, each of the gripping claws 2, 2a to 2c has a large movement stroke, allowing a fairly wide range between the maximum workpiece and the minimum workpiece. And, in this example,
In order to grip the workpiece more stably, there are three gripping claws, and for this purpose, the piston 7 and each gripping claw 2, 2a
The attachment positions of the links 3, 3a to 3c in ~2c are shifted up and down for compactness, which is also a feature.
【0011】そして、ここで本装置の把持力を他の把持
装置の把持力と対比して述べると、本装置の機構は図3
に示すリンク機構であり、把持力Fは以下のようにもと
まりピタゴラスの定理より、[0011] Now, to describe the gripping force of this device in comparison with the gripping forces of other gripping devices, the mechanism of this device is shown in Fig. 3.
The link mechanism is shown in , and the gripping force F is stopped as shown below, and from the Pythagorean theorem,
【0012】0012
【数1】[Math 1]
【0013】数1を微分して 2x+(dy/dx)・2y=0 ゆえに[0013] Differentiating the number 1 2x+(dy/dx)・2y=0 therefore
【0014】[0014]
【数2】[Math 2]
【0015】数1、数2よりFrom equations 1 and 2,
【0016】[0016]
【数3】[Math 3]
【0017】仕事量より[0017] From the amount of work
【0018】[0018]
【数4】[Math 4]
【0019】数3、数4よりFrom equations 3 and 4,
【0020】[0020]
【数5】[Math 5]
【0021】となる。数5をグラフにすると図4になる
。[0021] Figure 4 is a graph of number 5.
【0022】このことは、ワークの把持部の径が増し重
量が増えると、それに追従して把持力が増えていくこと
を示している。これに対しこれまでの把持装置の把持力
は図5に示すように、ワーク把持部の径が増し、重量が
増しても、把持力は常に一定であった。[0022] This shows that as the diameter and weight of the gripping portion of the work increases, the gripping force increases accordingly. On the other hand, as shown in FIG. 5, the gripping force of conventional gripping devices has always remained constant even when the diameter and weight of the workpiece gripping portion has increased.
【0023】また、ワーク保持部に発生する把持力につ
いて図6、図7をもとに説明する。本裝置は、図6に示
す構造であり、駆動部の出力は把持爪のワーク把持部で
あるL1部に伝達され、把持爪の位置と把持力の関係は
図8のようになり、ワーク把持部で最大の力が発生し、
爪の取付部では最小となり爪の駆動部のダメージを少な
くし、しかも有効的な力の伝達状態となる。これに対し
、これまでの把持装置は、図7のような構造であり、爪
の取付部に伝達された力は、爪の先端にいくに従い減少
し、ワーク把持部では駆動源から伝達された力の半分以
下になってしまう場合が常であり、不効率的なものであ
った。このようにワーク把持部に発生する把持力におい
て本装置がこれまでのものに比べかなり効率的なもので
あると言える。 また、把持爪2に設置されている導
電体8には電位差があり、金属からなる被把持物を把持
した時、前記伝導体が短絡され電流が流れる。そして、
そのことにより被把持物を把持したと検知することが出
来る。Furthermore, the gripping force generated in the workpiece holding section will be explained based on FIGS. 6 and 7. This device has the structure shown in Fig. 6, and the output of the drive unit is transmitted to the L1 section of the gripping claw, which is the workpiece gripping part, and the relationship between the position of the gripping claw and the gripping force is as shown in Fig. 8, and the workpiece gripping The maximum force is generated at
At the attachment part of the claw, the force is minimized, reducing damage to the drive part of the claw, and achieving an effective force transmission state. On the other hand, conventional gripping devices have a structure as shown in Figure 7, in which the force transmitted to the attachment part of the claw decreases as it approaches the tip of the jaw, and the force transmitted from the drive source to the workpiece gripping part decreases as it approaches the tip of the claw. It was inefficient, as the power was often reduced to less than half. As described above, it can be said that the present device is considerably more efficient than conventional devices in terms of the gripping force generated in the workpiece gripping section. Further, there is a potential difference in the conductor 8 installed on the gripping claw 2, and when an object made of metal is gripped, the conductor is short-circuited and a current flows. and,
This allows it to be detected that the object to be gripped is gripped.
【0024】以上説明したように、本実施例は、駆動源
であるエアシリンダの出力をリンクを介して把持爪に発
生させているため伝達による損失が無く、大きな把持力
を得ることが出来る。しかも、把持爪の被把持物把持部
分近辺の把持力が最も大きく、構造が簡単で小型軽量に
出来る。As explained above, in this embodiment, the output of the air cylinder, which is the driving source, is generated in the gripping claws via the link, so there is no loss due to transmission, and a large gripping force can be obtained. Moreover, the gripping force near the gripping portion of the gripping claw is the greatest, and the structure is simple and can be made small and lightweight.
【0025】[0025]
【発明の効果】本発明によれば、駆動源の出力をリンク
を介して把持爪の被把持物把持部分近辺に伝えるため把
持部で最も大きな把持力を得ることが出来るので把持装
置の小型軽量化が出来る。しかも、被物が金属の場合、
把持爪に設置した伝導体に流れる電流の有無でワーク有
無を判断するので、ワーク有無の誤検知を防ぐことが出
来、システム全体の誤動作が少なくなくなり稼働率を向
上することが出来る。Effects of the Invention According to the present invention, the output of the drive source is transmitted through the link to the vicinity of the gripping part of the gripping claw, so that the greatest gripping force can be obtained at the gripping part, so that the gripping device is small and lightweight. can be converted into Moreover, if the covering is metal,
Since the presence or absence of a workpiece is determined by the presence or absence of a current flowing through a conductor installed in the gripping claw, it is possible to prevent false detection of the presence or absence of a workpiece, thereby reducing malfunctions of the entire system and improving the operating rate.
【図1】本発明の一実施例の正面図である。FIG. 1 is a front view of an embodiment of the present invention.
【図2】第1図の平面図である。FIG. 2 is a plan view of FIG. 1;
【図3】本装置のリンク機構図である。FIG. 3 is a linkage mechanism diagram of the device.
【図4】本把持装置のワーク把持径に発生する力の関係
図である。FIG. 4 is a relationship diagram of the force generated in the workpiece gripping diameter of the gripping device.
【図5】本把持装置のワーク把持部に発生する力の関係
図である。FIG. 5 is a relationship diagram of forces generated in the workpiece gripping section of the gripping device.
【図6】本把持装置の構造図である。FIG. 6 is a structural diagram of the gripping device.
【図7】これまでの把持装置の構造図である。FIG. 7 is a structural diagram of a conventional gripping device.
【図8】本把持装置の把持爪での把持部と力の関係図で
ある。FIG. 8 is a diagram showing the relationship between the gripping portion and the force in the gripping claw of the gripping device.
【図9】これまでの把持装置の把持爪での把持部と力の
関係図である。FIG. 9 is a diagram illustrating the relationship between the gripping portion and the force in the gripping claws of the conventional gripping device.
1:ベース、2a〜2c:把持爪、3・3a〜3c:リ
ンク、4:リード線、5:エアシリンダ、6:把持ゴム
、7:ピストン、8:導電体、9:被把持物。1: Base, 2a to 2c: Gripping claw, 3 and 3a to 3c: Link, 4: Lead wire, 5: Air cylinder, 6: Gripping rubber, 7: Piston, 8: Conductor, 9: Object to be grasped.
Claims (3)
閉移動可能に連結するリンク機構と、前記把持爪を開閉
移動させるための駆動部を備えた把持装置において、前
記駆動部の駆動力が前記把持爪の把持中心軸方向に作動
して各爪が同期的に開閉移動可能にするように、前記各
把持爪に対応して駆動部の出力軸を前記把持爪にリンク
を介して連結したことを特徴とする把持装置。1. A gripping device comprising a plurality of gripping claws, a link mechanism connecting the gripping claws so as to be able to open and close the gripping claws synchronously, and a drive section for opening and closing the grasping claws, wherein the drive section The output shaft of the drive unit is linked to the gripping claws in correspondence with each of the gripping claws so that the driving force of the gripping claws operates in the direction of the gripping center axis of the gripping claws so that each claw can open and close synchronously. A gripping device characterized in that the gripping device is connected via a.
され、前記リンクの前記駆動部への連結部分及び、前記
把持爪への連結部分を前記把持爪の把持中心軸方向にず
らして取り付けたことを特徴とする請求項1記載の把持
装置。2. The gripping claw is composed of at least three claws, and the connecting portion of the link to the drive unit and the connecting portion to the gripping claw are attached so as to be shifted in the direction of the gripping center axis of the gripping claw. The gripping device according to claim 1, characterized in that:
の前記把持爪に設置した導電体に電流が流れることによ
り、被把持物を把持したことを確認手段を設けたことを
特徴とする請求項1記載の把持装置。3. When the gripped object is metal, the gripper is further provided with a means for confirming that the gripped object has been gripped by passing a current through a conductor installed in two or more of the gripping claws. The gripping device according to claim 1.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP11743991A JPH04343696A (en) | 1991-05-22 | 1991-05-22 | Holding device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP11743991A JPH04343696A (en) | 1991-05-22 | 1991-05-22 | Holding device |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH04343696A true JPH04343696A (en) | 1992-11-30 |
Family
ID=14711680
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP11743991A Pending JPH04343696A (en) | 1991-05-22 | 1991-05-22 | Holding device |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH04343696A (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009090442A (en) * | 2007-10-12 | 2009-04-30 | Toyota Motor Corp | Chucking device |
JP2010017834A (en) * | 2008-07-14 | 2010-01-28 | Central Motor Co Ltd | Clamping mechanism for material hand |
-
1991
- 1991-05-22 JP JP11743991A patent/JPH04343696A/en active Pending
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009090442A (en) * | 2007-10-12 | 2009-04-30 | Toyota Motor Corp | Chucking device |
JP2010017834A (en) * | 2008-07-14 | 2010-01-28 | Central Motor Co Ltd | Clamping mechanism for material hand |
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