JPS6025688A - Handling device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] The present invention relates to a handling device.

When trying to grip an object with a multi-joint manifolder or a zero-handling device.

Due to the flexibility of the inter-row ffi manifold and the arms of the gripper, it is difficult to position the handler, and the object to be gripped is not properly positioned. There may be a relative displacement between the center of the gripping device (rI) and the center of the gripped object.In this case, one of the two fingers of the gripping device may be in contact with the gripping object. Between the time when the other finger comes into contact with the object to be grasped, the object to be grasped is pushed by the first finger and moved to the center of the two fingers.Also,
In this case, if the object to be grasped is forcibly positioned or is heavy, the multi-joint manipulator, rosette rim, etc. will be bent, and the gripping device will be forcibly brought to the center of the object to be grasped. I'm in a state where I can't get enough of it.

In other words, if the center of the gripping device and the center of the object to be gripped are relatively displaced as described above,
If the object to be grasped falls over during grasping, an unreasonable force will be applied to the multi-joint manipulator or rosette.

Therefore, conventional handling devices use multiple tactile sensors and two or more actuators to individually drive two fingers to correct the position, or use a visual sensor such as a television camera to determine the position of the object to be grasped and the handling device. The position of the handling device is corrected based on the feedback.

However, in the case of conventional handling devices, the mechanism and control of the multi-joint manipulator and robot moji (manipulator) are complicated.

Even when the center of the handling device and the center of the object to be gripped are relatively displaced, the present invention corrects the displacement with a simple structure and enables the handling device to stably grip the object. The purpose is to

In order to achieve the above object, the handling device according to the present invention includes a support member, a first finger and a second finger supported by the support member and capable of opposing movement 0J in directions of approaching and separating from each other.
a driving part that drives the first finger 5t and the second finger, a clutch @1 interposed between the first finger and the moving part, and the second finger The second
a clutch, a first detection means for detecting that the first finger comes into contact with the object to be grasped, and a second detection means that detects that the second finger comes into contact with the object to be grasped. Tenari, 1st
and the second finger toward the object to be grasped, and when one finger comes into contact with the object to be grasped, the clutch corresponding to the finger is released L, and the other finger moves toward the object to be grasped. The one finger is kept at a gripping position relative to the object to be gripped until it comes into contact with the object, and then the object is gripped by both phases with an appropriate grip force set by both clutches.

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a cutaway plan view showing essential parts of an embodiment of the present invention. The handling device 10 has a slave palm 11 as a supporting member supported by a base 12 so as to be relatively movable. The slave palm 11 has a link 13
．． A first finger 15 is supported via 14, and a second finger 18 is supported via links 16,17.

Here, the slave palm 11, the link 13.14 and the first finger 15 form a parallel four-feeding link, and
Slave palm 11. ! jylil 5゜17 and 2nd
The fingers 18 also form a parallel four-feeding link, so that the two phases 15 and 18 are movable toward and away from each other.

The slave mentioned above? - the system 11 has a single drive motor 19;
is provided. The rotational force of the current motor 19 can be transmitted to the worm 23 via the bevel gear 20.21 and the first electromagnetic clutch 22.
4 and the worm 26 via the second electromagnetic clutch 25
It is said that it can be transmitted to On the other hand, said link 13.16
A sector worm wheel 21.degree. 28, which meshes with each of the worms 23, 26, is integrated with the worm wheels 21, 28, respectively. In other words, the two phases 15.18 are capable of opposing movement in the directions of approaching and separating from each other as the link 13.16 swings based on the rotational force of the V and moving parts 19.

In addition, the electromagnetic clutch 22.25 is 15°18
When a current corresponding to the setting j1-force on the gripping object is applied, and their transmitted torque reaches a torque corresponding to the above-mentioned set gripping force, slippage occurs and each phase 15.18 exceeds the set gripping force on the gripping object. It is set to 5, which does not require any grip strength.

In addition, each worm 23.26 is directly connected to a position detector 29.30, and the operating position of each phase 15.1 and 8 is 1N.
is the detection tjJ function. Note that the position detector may be directly connected to each sector ohm wheel 27, 28.

Furthermore, each phase 15, 18 has a first tactile sensor 31. A second tactile sensor 32 as a second detection means is also provided. Each tactile sensor 31, 32 is capable of detecting when each phase 15, 18 comes into contact with an object to be grasped.

Next, the operation of gripping the gripping object 33, which is displaced by e with respect to the center of the handling device 10, by the handling device 10, as shown in FIG. 2, will be described.

First, the drive motor 19 is driven while a current corresponding to the set grip force is applied to each electromagnetic clutch 22, 25,
Each phase 15, 18 is moved toward each other in a direction opposite to each other. When the first finger 15 comes into contact with the grasped object 33 first and the first tactile sensor 31 is activated, the power to the first electromagnetic clutch 22 is cut off and the movement of the first finger 15 is stopped. do. At this time, the first and second fingers 18 are not in contact with the grasped object 33, so they continue to move further and finally come into contact with the grasped object 33, and the second tactile sensor 32 is activated.

Next, the first electromagnetic clutch 220 is energized again, and therefore each phase 15.18 stably grips the gripping object 33 with the set gripping force. Here, the valley electromagnetic clutch 22.
When each of the 25 transmitted torques reaches the torque corresponding to each set grip force, -q! The electromagnetic clutches 22 and 25 slip and do not apply a gripping force exceeding the set gripping force to the object to be gripped 33. At this time.

It is possible to know when both clutches 22.25 have slipped using both detectors 29.30.
．． If the drive motor 19 is stopped after a certain amount of time has elapsed using a delay circuit such as a timer from the time when the worms 25 slip, the self-lock mechanism of each worm 23 and 26
It becomes possible to reliably maintain the state in which both the phases is and is are gripping the gripping object 33.

Note that, after the first finger 15 contacts the first gripped object 33, when the second finger 18 contacts the first gripped object 33, the first finger 15 immediately contacts the first gripped object 33 as described above. )', the second electromagnetic clutch 2
5, and after stopping the driving of the drive motor 19, the power supply to both clutches 22.25 is started again, and the drive motor 19 is started, so that gripping is performed by one phase 15.18. The object 33 may be gripped with a predetermined grip force.

In the operation of the handling device 10 as described above, the initial stopping position at the start of the operation of each phase 15, 1B is set at an equal distance (A) Vr- from the center of the handling device 10, and each phase 15, 18 is gripped. While the object 33- is being gripped, the displacements B and C of each phase 15.18 from the above-mentioned stop positions are detected by the position detectors 29 and 30.
-, then the amount of displacement e between the center of the handling device 10° and the center of the grasped object 33.

(It becomes possible to calculate B-C and 2. Therefore, the handling device 10 is moved relative to the base 12, and both phases 15.1
When transferring the gripped object 33 gripped by jJ to the fixed position j
By adding the above displacement to JJJ-ti'l,
The object to be grasped 33 can be accurately transferred to any predetermined position.

Note that in the above embodiment, each phase 15.
Although a worm mechanism is used as the operating mechanism of 18, the operating mechanism may be a screw mechanism or the like.

As described above, the handling device according to the present invention includes a support member, a first finger and a second finger that are supported by the support member and are movable in opposite directions in the direction of stones moving toward and away from each other. A drive unit that moves the finger and the second finger by 11 degrees, a first clutch that is valved between the first finger and the drive unit, and an intermediary between the second finger and the first pivot unit. a second clutch equipped with a first clutch;
a first detection means for detecting that the fingers of the user are in contact with the object to be grasped;

a second detection means for detecting that the second finger comes into contact with the object to be grasped; When the fingers make contact with the object to be gripped, release the clutch corresponding to the finger, and hold the object with one finger until the other finger comes into contact with the object. The clutch is made to stand by at the position, and then the object to be gripped is gripped by both phases with the appropriate grip force set by both clutches.Therefore,]
・Even if the center of the gripping device and the center of the object to be gripped are relatively displaced, the displacement can be controlled by a single drive unit and two
This correction is made using a simple structure consisting of two clutches, and the object to be gripped can be stably gripped by the handling device.

[Brief explanation of the drawing]

FIG. 1 is a plan view showing the main part of an embodiment of the present invention with a cut away and FIG. 2 is a plan view showing the relative positional relationship between the handling device and the object to be grasped in the same embodiment. 10°... Huntlin ra!, 11...7. l,'
-7F □ -mu, 15...1st finger, 1st...
Second finger, 19... Drive motor, 22... First electromagnetic clutch, 25... Second electromagnetic clutch, 31...
- First tactile sensor, 32... Second tactile sensor, 3
3...Gripped object. Agent Patent Attorney Osamu Shiokawa Figure 1 n Figure 2 n 0

Claims (1)

[Claims] (1) A support member, a first finger and a second finger supported by the support member and movable toward each other in directions toward and away from each other, and a drive for driving the first finger and the second finger. part and 1st
a first clutch interposed between the finger and the drive section; a second clutch interposed between the second finger and the drive section;
a first detection means for detecting that the first finger comes into contact with the object to be grasped; a second detection means for detecting when the second finger comes into contact with the object to be grasped, the first finger and the second finger are moved toward the object to be grasped, and one finger is When the finger comes into contact with the object to be gripped, the clutch corresponding to the finger is released from the connected state, and one finger is held at the gripping position for the object to be gripped until the other finger comes into contact with the object to be gripped, and then A handling device that uses one and both phases to grip an object with an appropriate grip force set by both clutches.