JPS62165884U

JPS62165884U -

Info

Publication number: JPS62165884U
Application number: JP5290786U
Authority: JP
Priority date: 1986-04-10
Filing date: 1986-04-10
Publication date: 1987-10-21

Description

[Brief explanation of the drawing]

第１図は本考案の実施例による把持装置の斜視
図及びその制御回路図、第２図は別の実施例によ
る制御回路図及び第３図は従来の把持爪の把持状
態を示す図である。１…被把持物、３，３ａ…爪、４，４ａ…把持
面、５，５ａ…距離センサ、６，６ａ…圧力セン
サ、１３，１３ａ…サーボモータ。 FIG. 1 is a perspective view of a gripping device according to an embodiment of the present invention and its control circuit diagram, FIG. 2 is a control circuit diagram according to another embodiment, and FIG. 3 is a diagram showing a gripping state of a conventional gripping claw. . 1... object to be grasped, 3, 3a... claw, 4, 4a... grasping surface, 5, 5a... distance sensor, 6, 6a... pressure sensor, 13, 13a... servo motor.

Claims

[Claims for Utility Model Registration] (1) A base positioned at a gripping position is provided with gripping claws on each side that are moved forward and backward by actuators associated with the surfaces to be gripped on both sides of the object to be gripped, and A control circuit that provides the gripping claw with a distance sensor that measures the distance between the gripping surface of the claw and the gripped surface, and that operates the associated actuator forward until the distance sensor detects substantially zero distance during a gripping operation. A gripping device comprising: (2) The gripping device according to claim 1, wherein a pressure sensor is provided to detect the gripping force of each gripping surface, and each pressure sensor also functions as a distance sensor.