JPS6150787A - Hand device for built-up robot - Google Patents
Hand device for built-up robotInfo
- Publication number
- JPS6150787A JPS6150787A JP16780484A JP16780484A JPS6150787A JP S6150787 A JPS6150787 A JP S6150787A JP 16780484 A JP16780484 A JP 16780484A JP 16780484 A JP16780484 A JP 16780484A JP S6150787 A JPS6150787 A JP S6150787A
- Authority
- JP
- Japan
- Prior art keywords
- torque motor
- hand
- drive shaft
- hand device
- clamp claws
- 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
Landscapes
- 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】
〔発明の利用分野〕
本発明は組立ロボット用のハンド装置に係り、特に形状
の異なる２種類以上の部品の把持に行うハンド装置に関
する。DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a hand device for an assembly robot, and particularly to a hand device for gripping two or more types of parts having different shapes.
平行に開閉動作する一対のクランプ爪を有し、そのクラ
ンプ爪の把持力および開閉速度の制御が可能な組立ロボ
ット用ハンド装置としては、（１）駆動源として直流モ
ータを使用し、把持力に対してＦ′ｉ′ＷＬ流制御、開
閉制御に対しては電圧制御によプ行う方式、（２）駆動
源としてエアモータを使用し、把持力に対しでに空気圧
ＩＩＪ Ｎ ：開閉速度に対しては流量調整弁により行
う方式、が知られている。As a hand device for an assembly robot, which has a pair of clamp claws that open and close in parallel and can control the gripping force and opening/closing speed of the clamp claws, (1) it uses a DC motor as a drive source and controls the gripping force. For F'i'WL flow control, for opening/closing control, voltage control is used. (2) An air motor is used as the drive source, and air pressure IIJ N: for opening/closing speed is used for gripping force. A known method is to use a flow rate adjustment valve.
しかし、これらの方式はいずれも把持力および開閉速度
の調整を別々の制御系で行う必要があり、ハンド装置の
構成が複雑になるという問題があるＯ
〔発明の目的〕
本発明の目的は、駆動源としてトルクモータを使用し、
クランプ爪の把持力と開閉速度との調整をトルクモータ
の電圧制御のみで行えるようにして、構造が簡単な組立
ロボブト用のハンド装ｍを提供することにある。However, in all of these methods, it is necessary to adjust the gripping force and the opening/closing speed using separate control systems, and there is a problem that the configuration of the hand device becomes complicated. Using a torque motor as the drive source,
To provide a hand device m for an assembly robot with a simple structure by which the gripping force of a clamp claw and the opening/closing speed can be adjusted only by voltage control of a torque motor.
不発明は、トルクモータが、拘速運転ができること、篭
源電王の変動により回転速度が変化すること、発生トル
クが電圧の２乗に比例すること、等の％注を有し、低圧
制−のみでトルクと回転速度の調整が可能である点ＶＣ
着目して、該トルクモータを駆動源とし、かつトルクモ
ータの電圧制御によりクランプ爪の把持力および開閉速
度の調整を行うよりにしたものである。The invention is characterized by the fact that the torque motor can be operated at a fixed speed, that the rotational speed changes due to fluctuations in the power source, that the generated torque is proportional to the square of the voltage, and that the torque motor is capable of low-pressure control. The point that it is possible to adjust the torque and rotational speed with only VC
Focusing on this, the torque motor is used as a drive source, and the gripping force and opening/closing speed of the clamp claws are adjusted by voltage control of the torque motor.
以下、本発明の一実施例を第１図、第２図により説明す
る。第１図は本発明による組立ロボット用・・ノド装置
の正面図、第２図は第１図におけるトルクモータの制御
回路図を示している。第１図１ておいて、このハンド装
置は、ハンド本体１、駆動軸２、トルクモータ３．一対
のクランプ爪４Ａ、４Ｂを備えている。An embodiment of the present invention will be described below with reference to FIGS. 1 and 2. FIG. 1 is a front view of a gutter device for an assembly robot according to the present invention, and FIG. 2 is a control circuit diagram of the torque motor in FIG. 1. In FIG. 1, this hand device includes a hand body 1, a drive shaft 2, a torque motor 3. A pair of clamp claws 4A and 4B are provided.
前記ハンド本体１は、ハンガー形状をなしている。The hand main body 1 has a hanger shape.
前記駆動軸２は、その両端部がハンド本体ＩＹＣ回転可
能に支持され、かつ同軸上に右ねじ２１Ｌおよび左ねじ
２ｂを形成している。The drive shaft 2 has both ends rotatably supported by the hand body IYC, and has a right-hand thread 21L and a left-hand thread 2b coaxially formed therein.
前記トルクモータ３は、・・ノド本体１の側面部に装着
され、かつ出力軸３ａを駆動軸２の一端にキー５を介し
て連結させて、駆動軸２を回転させられるようになって
いる。The torque motor 3 is attached to the side surface of the gutter body 1, and the output shaft 3a is connected to one end of the drive shaft 2 via a key 5, so that the drive shaft 2 can be rotated. .
前記クランプ爪４Ａ、４１ｔ、角形ワークｗｌの把持用
平面６と丸形ワークＷ２の把持用Ｖ溝７とを形成してい
ると共に、駆動軸２のねじ部に螺合させるめねじ８ａ、
３ｂを設けている。そして、一方のクランプ爪４Ａはめ
ねじ５ａｔａ動軸２の右ねじ２ａに螺合させて該駆動軸
２に取付けられ、また他方のクランプ爪４Ｂはめねじ３
１）（ｉ−駆動軸２の左ねじ２ｂに螺合させて該駆動軸
２に取付けられている。またクランプ爪４Ａ、４Ｂは、
その上端部をハンド本体１に取付けたガイド棒９に係合
させることにより回り止めされている。The clamp claws 4A, 41t form a flat surface 6 for gripping the square workpiece wl and a V groove 7 for gripping the round workpiece W2, and a female thread 8a screwed into the threaded portion of the drive shaft 2;
3b is provided. One clamp claw 4A is screwed onto the right-hand thread 2a of the drive shaft 2 with a female thread 5ata and attached to the drive shaft 2, and the other clamp claw 4B is attached to the drive shaft 2 with a female thread 5ata.
1) (i- It is attached to the drive shaft 2 by screwing it into the left-hand thread 2b of the drive shaft 2. Also, the clamp claws 4A, 4B are
Its upper end is engaged with a guide rod 9 attached to the hand main body 1 to prevent it from rotating.
このように構成されたハンド装置は、トルクモータ３に
より駆動軸２が回転させられると、クランプ４人、４Ｂ
が開閉動作を行い、角形ワークＷ１、丸形ワークＷ２の
把持および離しを行う。In the hand device configured in this way, when the drive shaft 2 is rotated by the torque motor 3, four clampers, four
performs opening and closing operations to grip and release the square workpiece W1 and the round workpiece W2.
第２図において、トルクモータ８のｔＥＥ調整はトラン
ス１０により行われ、そのトランス１００２次側には、
角形ワーク把持用電磁接触器１１、丸形ワーク把持用区
磁徽触器１２、クランプ爪高速開閉用電磁接触器１８、
クランプ爪低速開閉用電磁接触器１４が接げされている
。１５はトルクモータ正逆転切換スイッチを示す。In FIG. 2, the tEE adjustment of the torque motor 8 is performed by a transformer 10, and the secondary side of the transformer 100 includes:
Electromagnetic contactor 11 for gripping square workpieces, magnetic contactor 12 for gripping round workpieces, magnetic contactor 18 for high-speed opening and closing of clamp claws,
An electromagnetic contactor 14 for low-speed opening/closing of the clamp claw is connected. Reference numeral 15 indicates a torque motor forward/reverse changeover switch.
次に本発明によるハンド装置によって角形ワークＷ１の
把持する例について説明する。Next, an example in which a square workpiece W1 is held by the hand device according to the present invention will be described.
まず、第２図のクランプ爪高速開閉用電磁接触器１８を
閉じ、トルクモータ正逆転切換スイッチ１５を通じてト
ルクモータ３を駆動する。このトルクモータ３の駆動に
より駆動軸２が回転してクランプ爪４Ａ、４Ｂが高速で
閉じ動作を行つ。そして、クランプ爪４Ａ、４Ｂが角形
ワークＷＩＫ接触する直前の位Ｉｔまで移動したら、ク
ランプ爪低速開閉用電磁接触器１４に切換え、クランプ
爪の閉じ動作を低速にして角形ワークＷ１を把持する。First, the clamp claw high-speed opening/closing electromagnetic contactor 18 shown in FIG. 2 is closed, and the torque motor 3 is driven through the torque motor forward/reverse changeover switch 15. The drive shaft 2 is rotated by this drive of the torque motor 3, and the clamp claws 4A, 4B perform a closing operation at high speed. When the clamp claws 4A, 4B move to a position It just before contacting the square workpiece WIK, the clamp claws are switched to the low-speed opening/closing electromagnetic contactor 14, and the closing operation of the clamp claws is made slow to grip the square workpiece W1.
その後、角形ワーク把持用電磁接触器１１に切換え、角
形ワークＷ１を正規の把持力で把持する。Thereafter, the electromagnetic contactor 11 for gripping the rectangular workpiece is switched to grip the rectangular workpiece W1 with a regular gripping force.
以上の如く、本実施例においては、トルクモータ３の電
圧制御のみで、クランプ爪の把持力および開閉速度の調
整ヲ行えるので、ハンド装置自体の構成が従来のものと
比較して簡単になる。As described above, in this embodiment, the gripping force and opening/closing speed of the clamp claws can be adjusted only by controlling the voltage of the torque motor 3, so that the configuration of the hand device itself is simpler than that of the conventional one.
尚、角形ワーク、丸形ワーク以外の部品を取扱いたい場
合には、クランプ爪の把持面をその部品に適する形状と
することが対応できる。In addition, when it is desired to handle parts other than square workpieces and round workpieces, the gripping surface of the clamp claw can be shaped to suit the part.
以上説明したように、本発明によれば、ＩＨｍ源として
トルクモータを使用し、そのトルクモータの電圧制御の
みで、クランプ爪の把持力および開閉速度の調整を行う
こ”とができるので、構造が簡単なハンド装置を提供で
きる。As explained above, according to the present invention, a torque motor is used as an IHm source, and the gripping force and opening/closing speed of the clamp claws can be adjusted only by controlling the voltage of the torque motor. can provide a simple hand device.
第１図は本発明の組立ロボット用ハンド装置の一実施例
を示す正面図、第２図は第１図におけるトルクモータの
制御回路図である。FIG. 1 is a front view showing an embodiment of a hand device for an assembly robot of the present invention, and FIG. 2 is a control circuit diagram of the torque motor in FIG. 1.
Claims (1)
ロボット用のハンド装置であって、ハンド本体と、その
ハンド本体に両端部が回転可能に支持され、かつ右ねじ
および左ねじを同軸上に形成した駆動軸と、ハンド本体
に装着され、出力軸を前記駆動軸の一端に連結させたト
ルクモータと、駆動軸の右ねじ、左ねじにそれぞれ螺合
させられ、かつ駆動軸の回転により平行に開閉動作する
一対のクランプ爪と、前記トルクモータへの電圧を調整
する電圧調整器とを備え、前記電圧調整器にてトルクモ
ータへの電圧を調整することにより、前記クランプ爪の
把持力および開閉速度を変化させるように構成したこと
を特徴とする組立ロボット用のハンド装置。A hand device for an assembly robot that targets two or more types of parts with different shapes, which includes a hand body, both ends of which are rotatably supported by the hand body, and a right-handed screw and a left-handed screw are coaxially supported. A torque motor is attached to the hand body and has an output shaft connected to one end of the drive shaft, and the torque motor is screwed into the right-hand thread and the left-hand thread of the drive shaft, respectively, and is rotated by the rotation of the drive shaft. It includes a pair of clamp claws that open and close in parallel, and a voltage regulator that adjusts the voltage to the torque motor. By adjusting the voltage to the torque motor with the voltage regulator, the gripping force of the clamp claws can be adjusted. and a hand device for an assembly robot, characterized in that the opening/closing speed is changed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16780484A JPS6150787A (en) | 1984-08-13 | 1984-08-13 | Hand device for built-up robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16780484A JPS6150787A (en) | 1984-08-13 | 1984-08-13 | Hand device for built-up robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6150787A true JPS6150787A (en) | 1986-03-13 |
Family
ID=15856413
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP16780484A Pending JPS6150787A (en) | 1984-08-13 | 1984-08-13 | Hand device for built-up robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6150787A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS584431A (en) * | 1981-06-30 | 1983-01-11 | Usac Electronics Ind Co Ltd | Controlling system of kanji (chinese character) printer |
| JP2014100755A (en) * | 2012-11-19 | 2014-06-05 | Yaskawa Electric Corp | Robot system |
| JP2020104188A (en) * | 2018-12-26 | 2020-07-09 | 株式会社デンソーウェーブ | Electric gripper device, and electric gripper device control program |
| JP2020151837A (en) * | 2019-03-22 | 2020-09-24 | 株式会社デンソーウェーブ | Control device for robot and hand |
-
1984
- 1984-08-13 JP JP16780484A patent/JPS6150787A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS584431A (en) * | 1981-06-30 | 1983-01-11 | Usac Electronics Ind Co Ltd | Controlling system of kanji (chinese character) printer |
| JPH0216218B2 (en) * | 1981-06-30 | 1990-04-16 | Pfu Ltd | |
| JP2014100755A (en) * | 2012-11-19 | 2014-06-05 | Yaskawa Electric Corp | Robot system |
| JP2020104188A (en) * | 2018-12-26 | 2020-07-09 | 株式会社デンソーウェーブ | Electric gripper device, and electric gripper device control program |
| JP2020151837A (en) * | 2019-03-22 | 2020-09-24 | 株式会社デンソーウェーブ | Control device for robot and hand |
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