JPH04354689A - Gripper - Google Patents
GripperInfo
- Publication number
- JPH04354689A JPH04354689A JP12919191A JP12919191A JPH04354689A JP H04354689 A JPH04354689 A JP H04354689A JP 12919191 A JP12919191 A JP 12919191A JP 12919191 A JP12919191 A JP 12919191A JP H04354689 A JPH04354689 A JP H04354689A
- Authority
- JP
- Japan
- Prior art keywords
- grasping
- grasped
- movable
- finger
- 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 32
- 230000006835 compression Effects 0.000 claims abstract description 13
- 238000007906 compression Methods 0.000 claims abstract description 13
Landscapes
- Manipulator (AREA)
Abstract
Description
【0001】0001
【産業上の利用分野】本発明は、変形や破損しやすい被
把握物を一定の把握力で把握する把握装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a grasping device for grasping an object easily deformed or damaged with a constant grasping force.
【0002】0002
【従来の技術】近年、把握装置は市場のニーズに応じた
さまざまな用途に使用されてきている。BACKGROUND OF THE INVENTION In recent years, grasping devices have been used for various purposes depending on market needs.
【0003】以下、従来のこの種の把握装置について説
明する。図4は従来の把握装置の把握前の状態を示す正
面図であり、図5は同把握装置の状態を示す正面図であ
る。[0003] A conventional grasping device of this type will be explained below. FIG. 4 is a front view showing a conventional grasping device in a state before grasping, and FIG. 5 is a front view showing the state of the conventional grasping device.
【0004】図4,5において、1は本体部であり、端
部に一対の指1a,1bを有し、この一対の指1a,1
bで開閉動作を行うものである。そして一対の指1a,
1bには、それぞれつめ2,3が取付けられ、被把握物
4を把握できるようになっている。In FIGS. 4 and 5, reference numeral 1 denotes a main body, which has a pair of fingers 1a, 1b at its ends.
The opening/closing operation is performed at b. and a pair of fingers 1a,
Pawls 2 and 3 are respectively attached to 1b so that an object 4 to be grasped can be grasped.
【0005】上記構成において、把握装置が、物を把握
する場合、まず、本体部1の一対の指1a,1bが開閉
動作を行い、一対の指1a,1bに取付けられたつめ2
,3によって被把握物4を把握するのである。In the above configuration, when the grasping device grasps an object, first, the pair of fingers 1a, 1b of the main body 1 performs an opening/closing operation, and the claws 2 attached to the pair of fingers 1a, 1b open and close.
, 3, the object to be grasped 4 is grasped.
【0006】[0006]
【発明が解決しようとする課題】しかしながら上記従来
の構成では、本体部1のもつ把握力が、被把握物4に直
接伝達してしまうため、被把握物4が変形や破損しやす
いものであれば、被把握物4を変形あるいは破損させて
しまうという問題があった。[Problems to be Solved by the Invention] However, in the conventional configuration described above, the grasping force of the main body 1 is directly transmitted to the object to be grasped 4, so even if the object to be grasped 4 is easily deformed or damaged. For example, there is a problem that the grasped object 4 may be deformed or damaged.
【0007】本発明は上記問題を解決するもので、被把
握物が変形や破損しやすりものであっても、把握時に被
把握物の変形や破損を生じさせない把握装置を提供する
ことを目的としている。The present invention solves the above problem, and aims to provide a grasping device that does not cause deformation or damage to the grasped object during grasping, even if the grasped object is deformed or damaged. There is.
【0008】[0008]
【課題を解決するための手段】上記目的を達成するため
に本発明の把握装置は、本体部に設けた一対の指と、こ
の一対の指に取付けた可動つめ部と固定つめ部とで構成
し、前記両つめ部で被把握物を把握したとき、ある一定
以上の把握力が前記被把握物にかかると、前記可動つめ
部の可動用つめが摺動し、前記可動つめ部に内蔵されて
いる圧縮ばねの圧縮力によって、前記被把握物を把握す
るようにしたものである。[Means for Solving the Problems] In order to achieve the above object, the grasping device of the present invention is composed of a pair of fingers provided on a main body, and a movable claw portion and a fixed claw portion attached to the pair of fingers. When an object to be grasped is gripped by both of the claws, if a grasping force of a certain level or more is applied to the object, the movable claw of the movable claw slides, and the movable claw of the movable claw slides. The object to be grasped is grasped by the compression force of a compression spring.
【0009】[0009]
【作用】本発明は上記した構成によって、本体部の一対
の指に取付けた可動つめ部と固定つめ部によって、変形
や破損のしやすい被把握物を把握する場合、初め摺動可
能なつめは圧縮ばねによって本体部の片側の指に押しつ
けられており、把握装置が被把握物を把握し、被把握物
にある一定以上の把握力がかかると、摺動可能な可動用
つめがそれ以上の力で把握されないように、把握動作方
向へ摺動する。このため把握装置のもつ本来の把握力よ
り小さく調節されたばねの圧縮力によって、被把握物を
変形や破損を起こすことない一定の把握力で把握するこ
とができる。[Operation] According to the above-described structure, when grasping an object that is easily deformed or damaged by the movable claw portion and fixed claw portion attached to a pair of fingers of the main body, the slidable claws are initially compressed. It is pressed against the finger on one side of the main body by a spring, and when the grasping device grasps the object and a grasping force of more than a certain level is applied to the object, the movable sliding pawl will release the grasping force. Slide in the direction of the grasping motion to avoid being grasped. Therefore, the compressive force of the spring is adjusted to be smaller than the original grasping force of the grasping device, so that the object to be grasped can be grasped with a constant grasping force without causing deformation or damage.
【0010】0010
【実施例】以下、本発明の一実施例について、図面を参
照しながら説明する。DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.
【0011】図1において、5は本体部であり、端部に
一対の指5a,5bを有し、この一一対の指5a,5b
がアクチュエータやモータ(共に図示せず)を駆動源と
して開閉動作をするようにしている。そして片側の指5
aには、可動つめ部6を、他の指5bには固定つめ部7
を有している。In FIG. 1, reference numeral 5 denotes a main body, which has a pair of fingers 5a, 5b at the end.
The opening and closing operations are performed using an actuator and a motor (both not shown) as a driving source. and finger 5 on one side
A has a movable claw part 6, and the other finger 5b has a fixed claw part 7.
have.
【0012】可動つめ部6は指5aの外側面に立設した
軸6aと軸6aに、内設したスライド軸受6bを介して
左右に摺動する可動用つめ6cを取付け、さらに軸6a
に嵌合し、可動用つめ6cを指5a側に付勢する圧縮ば
ね6dと、軸6aの先端部に圧縮ばね6dの端部を受け
て可動用つめ6cへの付勢力を加減できるように軸6a
との固定を可変する固定ボルト6eを保持したブロック
6fとから構成している。また固定つめ部7は固定ねじ
によって指5bに取付けられる固定用つめ7aにより構
成している。The movable pawl portion 6 has a shaft 6a provided upright on the outer surface of the finger 5a, a movable pawl 6c that slides left and right via an internally installed slide bearing 6b, and a movable pawl 6c attached to the shaft 6a.
A compression spring 6d is fitted into the movable claw 6c to bias the movable claw 6c toward the finger 5a, and the end of the compression spring 6d is received at the tip of the shaft 6a so that the biasing force to the movable claw 6c can be adjusted. Axis 6a
and a block 6f holding a fixing bolt 6e for variable fixation. Further, the fixing pawl portion 7 is constituted by a fixing pawl 7a that is attached to the finger 5b with a fixing screw.
【0013】以上のように構成された把握装置について
、図2,3を用いてその動作を説明する。まず、可動つ
め部6と、もう一方の固定つめ部7とによって被把握物
8を把握する場合、図2に示すように、把握装置の把握
前の状態では、可動用つめ6cは圧縮ばね6dの付勢力
によって本体部5の片側の指5aの側面に押しつけられ
、接触している状態にある。また、図3に示すように、
把握装置の把握後の状態では、被把握物8にある一定以
上の把握力がかかり、可動用つめ6cが把握動作の方向
へ摺動することにより、把握装置が有する本来の把握力
より小さく調節された圧縮ばね6dの圧縮力によって、
被把握物8を一定の把握力で把握するようにしている。The operation of the grasping device configured as described above will be explained with reference to FIGS. 2 and 3. First, when grasping the object 8 by the movable claw part 6 and the other fixed claw part 7, as shown in FIG. The finger 5a is pressed against the side surface of the finger 5a on one side of the main body 5 by the urging force of the finger 5a, and is in contact with the side surface of the finger 5a. Also, as shown in Figure 3,
In the state where the grasping device has grasped, a grasping force of a certain level or more is applied to the object to be grasped 8, and the movable pawl 6c slides in the direction of the grasping operation, thereby adjusting the grasping force to be smaller than the original grasping force of the grasping device. Due to the compression force of the compression spring 6d,
The object to be grasped 8 is grasped with a constant grasping force.
【0014】以上のように本実施例によれば、従来の把
握装置のように、相対向する固定式のつめで、被把握物
を把握するのではなく、相対向する可動用つめ6cと固
定用つめ7aを有して構成しているため、ある一定以上
の把握力が被把握物8にかかると、可動つめ部6の可動
用つめ6cが摺動し、可動つめ部6に内蔵されている圧
縮ばね6dによる圧縮力によって、被把握物8を把握す
るようになる。したがって変形および破損しやすい被把
握物8をある一定の把握力で把握することが可能となり
、被把握物8の変形や破損を防止することができる。As described above, according to the present embodiment, the object to be grasped is not grasped by the opposing fixed claws as in the conventional grasping device, but by the movable claws 6c and the fixed claws facing each other. Since it is configured with a working pawl 7a, when a grasping force of a certain level or more is applied to the grasped object 8, the movable pawl 6c of the movable pawl portion 6 slides, and the movable pawl 6c built in the movable pawl portion 6 slides. The object to be grasped 8 is grasped by the compression force exerted by the compression spring 6d. Therefore, it is possible to grasp the grasped object 8, which is easily deformed and damaged, with a certain grasping force, and it is possible to prevent the grasped object 8 from being deformed or damaged.
【0015】[0015]
【発明の効果】以上のように本発明は、本体部の一対の
指に取付けられた可動つめ部と固定つめ部から構成し、
ある一定以上の把握力が被把握物にかかると、可動つめ
部の可動用つめが摺動するようにしているので、把握時
に被把握物の変形および破損を防止することができ、被
把握物を損なうことのない優れた把握装置を実現できる
。[Effects of the Invention] As described above, the present invention comprises a movable claw portion and a fixed claw portion attached to a pair of fingers of the main body,
When a grasping force exceeding a certain level is applied to the object to be grasped, the movable pawl of the movable claw portion slides, which prevents deformation and damage to the object during grasping. It is possible to realize an excellent grasping device that does not damage the
【図1】本発明の一実施例の把握装置の要部外観斜視図
FIG. 1: External perspective view of main parts of a grasping device according to an embodiment of the present invention.
【図2】同把握装置の把握前の状態を示す要部正面図[Figure 2] Front view of main parts showing the state of the grasping device before grasping
【
図3】同把握装置の把握後の状態を示す要部正面図[
Figure 3: Front view of main parts showing the state of the grasping device after grasping
【図
4】従来の把握装置の把握前の状態を示す要部正面図[Fig. 4] Front view of main parts showing the state before grasping of a conventional grasping device
【図5】同把握装置の把握後の状態を示す要部正面図[Fig. 5] Front view of main parts showing the state of the grasping device after grasping
5 本体部 5a,5b 指 6 可動つめ部 6a 軸 6c 可動用つめ 6d 圧縮ばね 6e 固定ボルト 6f ブロック 7 固定つめ部 7a 固定用つめ 8 被把握物 5 Main body 5a, 5b Finger 6 Movable claw part 6a axis 6c Movable pawl 6d compression spring 6e Fixing bolt 6f block 7 Fixed claw part 7a Fixed claw 8. Object to be grasped
Claims (2)
、被把握物を把握するための一対の指が開閉動作する本
体部と、前記指の片側に把握動作方向と同方向でかつ前
記指の外側に取付けた軸に前記軸方向へ滑らかに摺動で
きる可動用つめと、前記可動用つめを前記片側の指に押
しつけるための圧縮ばねと、前記圧縮ばねの押しつけ力
を調節するための固定ボルトを有し、前記軸上で移動調
整可能なブロックを設けた可動つめ部と、前記指のもう
一方の指に固定用つめを取付けてなる固定つめ部とを備
えた把握装置。[Claim 1] A main body part that uses an actuator or a motor as a driving source and has a pair of fingers that open and close for grasping an object to be grasped, and a body part that is provided on one side of the fingers in the same direction as the grasping movement direction and on the outside of the fingers. A movable pawl that can smoothly slide in the axial direction on the attached shaft, a compression spring for pressing the movable pawl against the finger on one side, and a fixing bolt for adjusting the pressing force of the compression spring. and a grasping device comprising a movable pawl portion provided with a block movable and adjustable on the shaft, and a fixed pawl portion having a fixing pawl attached to the other finger of the finger.
被把握物を把握する場合にある一定以上の把握力が前記
被把握物にかかると、前記可動用つめが摺動し、一定力
で前記把握物を把握する請求項1記載の把握装置。[Claim 2] The movable claw and the fixed claw face each other,
2. The grasping device according to claim 1, wherein when a grasping force of a certain level or more is applied to the grasped object when grasping the grasped object, the movable pawl slides and grasps the grasped object with a constant force.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP12919191A JPH04354689A (en) | 1991-05-31 | 1991-05-31 | Gripper |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP12919191A JPH04354689A (en) | 1991-05-31 | 1991-05-31 | Gripper |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH04354689A true JPH04354689A (en) | 1992-12-09 |
Family
ID=15003397
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP12919191A Pending JPH04354689A (en) | 1991-05-31 | 1991-05-31 | Gripper |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH04354689A (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110666827A (en) * | 2019-09-29 | 2020-01-10 | 东莞华贝电子科技有限公司 | Clamping mechanism capable of providing constant clamping force and manipulator device |
-
1991
- 1991-05-31 JP JP12919191A patent/JPH04354689A/en active Pending
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110666827A (en) * | 2019-09-29 | 2020-01-10 | 东莞华贝电子科技有限公司 | Clamping mechanism capable of providing constant clamping force and manipulator device |
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