JPS6099587A - Gripper - Google Patents

Gripper

Info

Publication number
JPS6099587A
JPS6099587A JP20591083A JP20591083A JPS6099587A JP S6099587 A JPS6099587 A JP S6099587A JP 20591083 A JP20591083 A JP 20591083A JP 20591083 A JP20591083 A JP 20591083A JP S6099587 A JPS6099587 A JP S6099587A
Authority
JP
Japan
Prior art keywords
pinion
gripping device
workpiece
gripping
reducer
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
Application number
JP20591083A
Other languages
Japanese (ja)
Inventor
蚊戸 俊一
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toshiba Corp
Original Assignee
Toshiba Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Toshiba Corp filed Critical Toshiba Corp
Priority to JP20591083A priority Critical patent/JPS6099587A/en
Publication of JPS6099587A publication Critical patent/JPS6099587A/en
Pending legal-status Critical Current

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  • Manipulator (AREA)

Abstract

(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。
(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

【発明の詳細な説明】 〔発明の技術分野〕 この発明はロボットなどに用いられる把持装置に関し1
%に、電動機を動力源とする把持装置に関する。
[Detailed Description of the Invention] [Technical Field of the Invention] The present invention relates to a gripping device used in a robot, etc.
%, relates to a gripping device powered by an electric motor.

〔発明の技術的背景とその問題点〕[Technical background of the invention and its problems]

電動機を動力源とする把持装置の一種に第1図(A) 
7−(C)図に示すものがある。この把持装置はワーク
を把持する相対向する一対の指(1)を有し、各相(1
)はそれぞれ支持体(2)に固定されている。これら支
持体(2)は横断面コ字形の第1フレーム(3a)の中
央を通り、その両側に固定された中央シャツ) (4a
)に摺動自在に嵌挿され、かつ、上記中央シャツ) (
4a)と平行に設けられて上記第1フレーム(3a)の
両側を摺動自在に嵌挿するサイドシャフト(4b)に固
定されており、各相(1)は中央およびサイドシャフト
(4a)、 (4b)からなる一対のシャフトで接離自
任に案内されるようになっている。また。
Figure 1 (A) is a type of gripping device that uses an electric motor as its power source.
There is one shown in Figure 7-(C). This gripping device has a pair of opposing fingers (1) for gripping a workpiece, and each phase (1
) are each fixed to the support (2). These supports (2) pass through the center of the first frame (3a), which is U-shaped in cross section, and are fixed to both sides of the first frame (4a).
) is slidably inserted into the central shirt) (
4a), and is fixed to a side shaft (4b) that is slidably inserted into both sides of the first frame (3a), and each phase (1) has a central and side shaft (4a), It is designed to be guided by a pair of shafts consisting of (4b) to approach and separate at will. Also.

上記各支持体(2)には、上記サイドシャツ) (4b
)と平行にトルク伝達機構の一部てろるラック(6a)
が取付けられ、上記第1フレーム(3a)上に固定され
て電動機(7)の回転を伝達する減速機(8a)の出力
軸(8b)に取付けられたピニオン(6b)に歯合し、
電動機(7)の正逆回転トルクを減速機(8a)、)ル
ク伝達機構(6a)、 (6b) 、支持体(2)など
を介して各相(1)に伝達し、これら指(1)を接離す
るようになっている。
Each of the supports (2) includes the side shirt) (4b
) is a part of the torque transmission mechanism parallel to the rack (6a)
is attached and meshed with a pinion (6b) attached to an output shaft (8b) of a reducer (8a) fixed on the first frame (3a) and transmitting the rotation of the electric motor (7),
The forward and reverse rotational torque of the electric motor (7) is transmitted to each phase (1) via the reducer (8a), the torque transmission mechanism (6a), (6b), the support (2), etc. ) are designed to connect and separate.

そして、この指(1)の接離によって、ワークの把持お
よび開放がおこなわれる。なお、図中、 (3b)は第
1フレーム(3a)に立役固定された第2フレーム。
The workpiece is gripped and released by moving the fingers (1) toward and away from the workpiece. In addition, in the figure, (3b) is the second frame fixed to the first frame (3a).

α樟は〆この把持装置をロボット、その他機器に取伺る
ために上記第2フレーム(3b)に固定されたフランジ
である。
α樟 is a flange fixed to the second frame (3b) to allow the gripping device to be used by a robot or other equipment.

ところで、従来の把持装置は452図に示すようにピニ
オン(6b)が減速機(8a)の出力軸(8b)にねじ
(12)により[11定されているため、指(1)がワ
ークに肖った瞬間%電動機(力、減速板(8a)などの
41゛(性力によって、大きな1に撃力が把持装置I′
1.の各部分に加わる。この力は一般に小形軽量に形成
されている減速機(8a)、歯車伝導機構などの耐荷重
を越える場合が多く、しはしはこの種の把持装ji−7
:の故障の原因となり、ている。それ故、この故障を防
上するために、把持力の数倍の耐荷yJtをもつ減速機
(8a)、トルク伝達イ幾構を選んで衝零に耐えるよう
にするか、または、指け)の移動速度を遅くして衝撃力
が生じないようにするなどの処置がとられている。
By the way, in the conventional gripping device, as shown in Fig. 452, the pinion (6b) is fixed to the output shaft (8b) of the reducer (8a) by a screw (12), so that the finger (1) does not touch the workpiece. At the moment when the electric motor (force, deceleration plate (8a), etc.)
1. Add to each part of. This force often exceeds the load capacity of the reducer (8a), gear transmission mechanism, etc., which are generally small and lightweight.
: It may cause a malfunction. Therefore, in order to prevent this failure, it is necessary to select a reducer (8a) with a load capacity yJt several times the gripping force and a torque transmission mechanism to withstand zero impact, or to Measures are being taken to reduce the speed of movement of the vehicle to prevent impact forces from occurring.

しかし、把持力の数倍の耐荷重をもつ減速機(8a)。However, the reducer (8a) has a load capacity several times the gripping force.

トルク伝達機構を用いることは、把持力の割に装置全体
を大形にし、また、把持するワークの74j y−’(
に大きな制限を付することになる。一方、指(1)の移
動速度を遅くすることは1把持に要する時間が長くなり
使用上問題となる。
Using the torque transmission mechanism increases the size of the entire device in relation to the gripping force, and also increases the size of the workpiece to be gripped.
This will place significant restrictions on On the other hand, slowing down the moving speed of the fingers (1) increases the time required for one grip, which poses a problem in use.

〔発明の目的〕[Purpose of the invention]

この発明は指がワークに当った瞬間に各部分に加わる衝
撃力を吸収する機構をもつ把持装置を得ることにある。
The object of the present invention is to provide a gripping device having a mechanism that absorbs the impact force applied to each part at the moment a finger hits a workpiece.

〔発明の概璧〕[Synopsis of the invention]

ワークを把持する指を動かす駆動装置の出力側に対して
、上記駆動装置のトルクを指に伝達するトルク伝達機構
を弾接させて、一定収上のトルクを指に伝達しないよう
にしだ。
A torque transmission mechanism that transmits the torque of the drive device to the fingers is brought into elastic contact with the output side of the drive device that moves the fingers that grip the workpiece, so that a certain amount of torque is not transmitted to the fingers.

〔発明の実施例〕[Embodiments of the invention]

以下、図面を参照してこの発明を実施例に基づいて説明
する。
Hereinafter, the present invention will be described based on embodiments with reference to the drawings.

把持装置全体の構成については、前記第1図の把持装置
と同じであるので、その詳細な説明を省略し、以下、こ
の発明の要部について説明する。
Since the overall configuration of the gripping device is the same as that of the gripping device shown in FIG. 1, a detailed explanation thereof will be omitted, and the main parts of the present invention will be described below.

第3図において%(8C)は第1図に示した減速機(8
a)の出力軸であり、(6C)はこの出力軸(8C)に
取付けられたトルク伝達機構のピニオンである。
In Figure 3, % (8C) is the reducer (8C) shown in Figure 1.
This is the output shaft of a), and (6C) is the pinion of the torque transmission mechanism attached to this output shaft (8C).

このピニオン(6C)は出力軸(8C)に取付けるため
の径大な取付部qO)と、この取付部4211)と一体
に形成された径小の歯車部Qvとからなり、この歯車部
Cυが第1図゛に示したラック(6a)K歯合して電動
機(7)の回転出力を指(1)に伝達する。しかして、
上記出力軸(8C)の先端部外周には、断面半円形の環
状溝(2)が形成され、一方、ピニオン(6C)の取付
部C(心には、ラジャル方向に貫通孔が形成され、この
貫通孔内に鋼球体3)とコイルばね(24a)が配設さ
れている。このコイルばね(24a)は、上記貫通孔の
外側に近い部分に形成さNuねじ部分に螺合する雄ねじ
(ハ)によって圧縮され、鋼球い)を上記環状溝(23
1に弾接している。なお、上記雄ねじ2!51はナラ)
 !2[i)によって、上記取付部+201に固定でき
るようになっている。
This pinion (6C) consists of a large diameter attachment part qO) for attaching to the output shaft (8C) and a small diameter gear part Qv formed integrally with this attachment part 4211), and this gear part Cυ The racks (6a) and K shown in FIG. 1 mesh to transmit the rotational output of the electric motor (7) to the finger (1). However,
An annular groove (2) with a semicircular cross section is formed on the outer periphery of the tip of the output shaft (8C), while a through hole is formed in the radial direction at the attachment part C of the pinion (6C), A steel ball 3) and a coil spring (24a) are disposed within this through hole. This coil spring (24a) is compressed by a male screw (c) formed near the outside of the through hole and screwed into the Nu threaded portion, and the steel ball (24a) is
It is in ballistic contact with 1. In addition, the above male screw 2!51 is oak)
! 2[i) allows it to be fixed to the mounting portion +201.

上記のように減速機(8a)の出力+IQl+ (8c
)にトルク伝達機構のピニオン(6C)を取付けると、
雄ねじc!■のねじこみ靴によって、出力軸(8C)に
対する鋼球@の弾接力を任意に調整することができる。
As mentioned above, the output of the reducer (8a) +IQl+ (8c
), when the pinion (6C) of the torque transmission mechanism is installed,
Male thread c! The elastic contact force of the steel ball @ with respect to the output shaft (8C) can be arbitrarily adjusted by means of the screw-in shoe (2).

したがって、指(1)がワークを把持するのに必要な把
持力より少し大きな力でピニオン(6C)が出力1曲(
8・1の丑わりを回転するように調整しておくことによ
り、指(1)がワークに当る瞬間に生ずる衝撃力を吸収
し、この衝撃力を把持装置の各部分に伝達するのを防止
することができる。
Therefore, the pinion (6C) outputs one song (
By adjusting the grip of 8.1 to rotate, it absorbs the impact force that occurs at the moment the finger (1) hits the workpiece, and prevents this impact force from being transmitted to each part of the gripping device. can do.

つぎに、他の実施例について述べる。Next, other embodiments will be described.

第4図は減速機(8りの出力軸(8C)に段付円筒状の
取付部e0をねじαつで固定℃、この取付部(イ)の径
小部に歯車部Qυを取付けたもので、上記取付部(:’
illの径大部と歯車部(2υとの間には、皿ばね(2
4b)。
Figure 4 shows a reducer (8C) with a stepped cylindrical mounting part e0 fixed to the output shaft (8C) with a screw α, and a gear part Qυ attached to the small diameter part of this mounting part (A). And the above mounting part (:'
A disc spring (2υ) is installed between the large diameter part of ill and the gear part (2υ).
4b).

およびワッシャ(2樽が介挿され、歯車部(21)はワ
ッシ+ c78)を介して上記取付部(20)の径小端
部に取付けられた止め輪01によって、取付部(20)
に弾接している。
The attachment part (20) is attached to the attachment part (20) by the retaining ring 01 attached to the small diameter end of the attachment part (20) through a washer (two barrels are inserted and the gear part (21) is washer + C78).
It is in ballistic contact with the

この実施例のように減速機(8a)の出力軸(8C)に
ビそオン(6C)を取付けると、衝悠力が加わった場合
、ピニオン(6C)は取付部(2■と歯車部(2υとの
間でからまわりし、前記実施例同様衝撃力を吸収するこ
とができる。
If the bison (6C) is attached to the output shaft (8C) of the reducer (8a) as in this example, when an impact force is applied, the pinion (6C) will be separated from the mounting part (2■) and the gear part ( 2υ, and can absorb the impact force as in the previous embodiment.

〔発明の効果〕〔Effect of the invention〕

上述のように駆動装置のトルクをワーク把持用指に伝達
するトルク伝達機構のピニオンが、その駆動側に対して
弾接する構造にすると、一定収上のトルクを指に伝達し
ないようにすることができ。
As described above, if the pinion of the torque transmission mechanism that transmits the torque of the drive device to the workpiece gripping fingers is configured to make elastic contact with the drive side, it is possible to prevent a certain amount of torque from being transmitted to the fingers. I can do it.

それにより、指がワークに当った瞬間把持装置の各部分
に加わる衝撃力を吸収して故障の少い把持装置とするこ
とができる。
As a result, it is possible to absorb the impact force applied to each part of the gripping device the moment a finger hits a workpiece, thereby making it possible to provide a gripping device with fewer failures.

【図面の簡単な説明】[Brief explanation of drawings]

第1図(A)〜(C)図はそれぞれ把持装置の正面図、
側1m1図、平面図、第2図は従来の把持装置のピニオ
ンの取付図、第3図はこの発明に係るピニオンの取付け
を示す一実施例図、第4図は同じく他の実施例図である
。 (■)二指 (6a) ニラ ツク (6G) :ビニオン (7):電動機(8a) :減
速機 (SC) :出力軸(イ):取付部 eυ:歯車
部 (2榎:環状溝 (ハ):鋼球 (財):ばね (251=雄ねじ 代理人 弁理士 則近慾佑 (ほか1名)第2図 第3図 ダS4図
Figures 1(A) to 1(C) are front views of the gripping device, respectively;
1 m 1 side view, a plan view, FIG. 2 is an installation diagram of a pinion of a conventional gripping device, FIG. 3 is an embodiment diagram showing the attachment of a pinion according to the present invention, and FIG. 4 is another embodiment diagram. be. (■) Two fingers (6a) Chive Tsuku (6G): Binion (7): Electric motor (8a): Reducer (SC): Output shaft (A): Mounting part eυ: Gear part (2): Annular groove (H) ): Steel Ball (Incorporated): Spring (251 = External thread Agent, Patent Attorney Keisuke Norichika (and 1 other person) Fig. 2 Fig. 3 Da S4 Fig.

Claims (1)

【特許請求の範囲】[Claims] 駆動装置と、・ワークを把持する指と、上記駆動装置の
駆動軸に取付けられたピニオンおよび上記指に取付けら
れて上記ピニオンに一合したラックからなるトルク伝達
機構とを具備し、上記ピニオンはこのピニオンを駆動す
る部分に対して弾接しており、上記駆動装置からの一定
以上のトルクを上記指に伝達しないことを特徴とする把
持装置。
a torque transmission mechanism including a drive device, a finger for gripping a workpiece, a pinion attached to a drive shaft of the drive device, and a rack attached to the finger and aligned with the pinion; A gripping device that is in elastic contact with a portion that drives the pinion, and does not transmit torque exceeding a certain level from the driving device to the fingers.
JP20591083A 1983-11-04 1983-11-04 Gripper Pending JPS6099587A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP20591083A JPS6099587A (en) 1983-11-04 1983-11-04 Gripper

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP20591083A JPS6099587A (en) 1983-11-04 1983-11-04 Gripper

Publications (1)

Publication Number Publication Date
JPS6099587A true JPS6099587A (en) 1985-06-03

Family

ID=16514773

Family Applications (1)

Application Number Title Priority Date Filing Date
JP20591083A Pending JPS6099587A (en) 1983-11-04 1983-11-04 Gripper

Country Status (1)

Country Link
JP (1) JPS6099587A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6299094A (en) * 1985-10-23 1987-05-08 富士通株式会社 Robot hand using differential gear
JP2011183513A (en) * 2010-03-09 2011-09-22 Canon Inc Apparatus and method of controlling gripper

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6299094A (en) * 1985-10-23 1987-05-08 富士通株式会社 Robot hand using differential gear
JP2011183513A (en) * 2010-03-09 2011-09-22 Canon Inc Apparatus and method of controlling gripper

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