JPS6254691A - Method of controlling robot hand - 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 provides a method for controlling a robot hand comprising a plurality of pitch structures using magnetic attraction and repulsion of electromagnets.

Conventionally, the method of handling a plurality of workpieces while changing their pitches at the same time is extremely complicated, heavy, and costly because it relies on sophisticated combinations of gears and links. Therefore, the work of arranging a large number of works lined up at a constant pitch by spreading them out to different pitches is usually done manually. This is also due to the fact that the pitch of the workpieces at the time of alignment changes as the shapes and specifications of the workpieces change, so the pitch of the hand mechanism must be changed accordingly.

In view of this, the present invention uses electromagnets to achieve predetermined pitch control as easily as possible, and also has a very small weight and allows for easy current adjustment to control the shape of the workpiece. The main purpose is to propose a robot hand control method that can immediately respond to changes.

An embodiment of the present invention will be described in detail below with reference to the drawings.

FIG. 1 is a perspective view showing an embodiment of a pitch opening/closing mechanism suitable for use in the method of the present invention. Reference numeral 12 indicates a shaft installed parallel to the lateral direction, and the shaft 12 is fixed at a constant interval by two electromagnetic plates 1 and 4 provided at both ends thereof.

Electromagnetic plates 2 and 3 for moving the two pongees 12 in parallel are provided between them. The electromagnetic plates 2 and 3 are provided with an arm 8 extending from the lower side thereof and a work holder 9 provided at the end of the arm 8.

Inside the electromagnetic plate, as shown in Figure 2, there is a coil 1 on the iron core.
1 is wound, and both ends of the coil 11 are pulled out as a cord 12. 10 indicates a case. Tsumugi 12
A bearing can be installed on the sliding part. 7
indicates a drawer lead.

Next, an example of the method of the present invention will be explained. First, as shown in FIG. 3A, the first and third electromagnetic plates 1.3 are energized with DC current of arbitrary values in the forward direction, and the second and fourth electromagnetic plates 1.
By energizing the electromagnetic plates 2 and 4 with direct current in opposite directions, the electromagnetic plates 1゜2, 3, 4 repel each other, and the electromagnetic force is balanced between the electromagnetic plates 1゜4 at both ends. This will form an arbitrary equal pitch.

Furthermore, by controlling the value of the energized DC current to be smaller in the second and third electromagnetic plates 2 and 3 than in the first and fourth electromagnetic plates 1 and 4, as shown in FIG. The first and second electromagnetic plates 1 and 2 and the third and fourth electromagnetic plates 2 and 4 strongly repel each other to form the second and third electromagnetic plates 2.
, by canceling out the slight repulsive force of the 3rd opening, the second
The workpiece 20 is reliably held between the third electromagnetic plates 2 and 3. Furthermore, first and fourth electromagnetic plates 1
, 4, or the second and third electromagnetic plates 2.
, 3 to a large value, the state shown in FIG. 3A can be restored again. Therefore, by installing this device at the tip of the robot arm, it becomes possible to freely transport the workpiece.

FIG. 4 is a diagram showing another example of the method of the present invention.

First, as shown in FIG. By applying direct current in opposite directions, the first and second electromagnetic plates 1, 2 attract each other, and the second, third and fourth electromagnetic plates 2, 3 .
4 will repel each other.

Next, the workpiece 20 is placed between the second and third electromagnetic plates 2 and 3, and as shown in FIG.
By reversing the polarity of 4, the third electromagnetic plate 3 becomes
While being attracted to the second electromagnetic plate 2, they are repelled by the fourth electromagnetic plate 4.

Furthermore, as shown in FIG. C, first and fourth electromagnetic plates 1.
By reversing the polarity of 4, the first and second electromagnetic plates 1, 2 repel each other, and the second, third, fourth, and fourth electromagnetic plates 2, 3.4 attract each other. As a result, the clamped workpiece 20 moves to the right in the figure.

As shown in the figure, the first and second electromagnetic plates 1,
By further reversing the polarity of 2, the second electromagnetic plate 2
An arbitrary equal pitch is formed between the first and third electromagnetic plates 1 and 3 by balancing the electromagnetic forces. Therefore,
The workpiece 20 is released from the clamped state.

Incidentally, the method of the present invention can be widely applied to operations such as spreading a large number of works to different fixed pitches and arranging them using a vacuum vat, packing the workpieces into boxes, and loading the workpieces.

As described above, the present invention includes a shaft, an electromagnetic plate fixed to both ends of the shaft, and a plurality of electromagnetic plates that move in parallel along the axis, and a large current is applied to the electromagnetic fill on the moving side. , Separate the workpiece by applying a small current to the electromagnetic coil on the stationary side, and clamp the workpiece by applying a large current to the electromagnetic coil on the stationary side and a small current to the electromagnetic coil on the moving side. With this structure, it is possible to reliably absorb the shock when holding a workpiece, and by simply adjusting the current, it is possible to open and close with high precision and a variety of pitches, that is, to accommodate various sizes of workpieces. . Conventionally, the opening and closing of the above-mentioned pitch was done by mechanical combinations such as gears and links, which resulted in heavy weight and very strict conditions in terms of inertia and strength for use at the tip of the robot hand. However, according to the present invention, since only the core of the conventional robot hand is taken out, it is extremely lightweight and can be expected to have effects such as being able to shorten the tact time of the robot hand by several times.

Further, according to the present invention, the sleeve has a sleeve, an electromagnetic plate fixed to both ends of the shaft, and a plurality of electromagnetic plates that move in parallel along the axis, and are fixed to the electromagnetic coil on the moving side to hold the workpiece. Applying currents of polarities that repel each other to the side electromagnetic coils, reversing the polarity of the current applied to the electromagnetic coils to move the clamped workpiece, and reversing the polarity of the current applied to the electromagnetic coils to separate the workpieces. Since the control is made to reverse the polarity of the electromagnet filter, it is possible to transport the work simply by changing the polarity of the electromagnet filter, i.e., by switching the switch.Moreover, the transport control position is accurate and has little error, making it easy to perform remote control and group control. This has the effect of providing a highly accurate robot hand.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing an example of an electromagnetic device suitable for use in the method of the present invention, FIG. 2 is a perspective view showing an example of an electromagnetic plate,
FIGS. 3A and 3B are diagrams showing an embodiment of the method of the present invention.
Figures A, B, C, and D are diagrams showing examples of ponds according to the method of the present invention. 1.4... Fixed side electromagnetic plate, 2, 3... Parallel moving electromagnetic plate, 12... Axis installed parallel to the lateral direction. Applicant's agent Patent attorney Akiyama Takashi Figure 3

Claims (1)

[Claims] 1. A device comprising a shaft, an electromagnetic plate fixed to both ends of the shaft, and a plurality of electromagnetic plates that move in parallel along the axis, and a large current is fixedly applied to the electromagnetic coil on the moving side. A small current is applied to each side electromagnetic coil to separate the workpiece, and a large current is applied to the stationary side electromagnet coil, and a small current is applied to the moving side electromagnet coil to hold the workpiece. This is repeated. A robot hand control method characterized by: 2. It has a shaft, an electromagnetic plate fixed to both ends of the shaft, and a plurality of electromagnetic plates that move in parallel along the axis, and an electromagnetic coil on the moving side and an electromagnetic coil on the fixed side to hold the workpiece. applying currents with polarities that repel each other, reversing the polarity of the current applied to the electromagnetic coil to move the clamped workpiece, and reversing the polarity of the current applied to the electromagnetic coil to separate the workpieces. A robot hand control method characterized by controlling the robot hand.