JPS6268229A - Gripper device - Google Patents

Abstract

PURPOSE:To enable a robot gripper device for gripping wire state minute objects to exactly hold a wire state minute object and distinguish holding condition by providing holding grooves and a touch sensor bar to the end sections of the gripper. CONSTITUTION:To hold a wire state minute object 14 supported by a wire supporting section 17, firstly, worm gears 7 and 8 are rotated by a motor 9 to open gripper ends 3a and 3b by a screw type center bar 6, and when the gripper approaches the object 14 and contacts with a touch sensor bar 12, a detected signal is sent to a motor control section 50 to be converted to a digital signal starting the motor 9 to close the gripper ends 3a and 3b. And the object 14 is fitted to the grooves 11a and 11b of the gripper ends and held. In the next step, a wire supporting section 17 is slidden forcedly by a slide control section 120 to transfer the force acted on a piezoelectric element 16 to an A/D converting section 110, and holding condition is distinguished on the basis whether there is reaction force or not or the value of the reaction force by means of a processor 100.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a gripper device for a microassembly robot.

[Prior art and its problems]

Conventionally, grippers for micro-assembled robots that grip fine wire-like objects such as needles, such as wires in the assembly of the head of a wire dot printer or optical fibers in the assembly of optical fiber connectors, have not been put to practical use.

In addition, in the same way that humans use tweezers to grip minute wire-like objects such as needles, when trying to configure and control a tweezers-type gripper, it is necessary to operate both tips of the tweezers. became complicated, and there was no practical configuration that could open and close both ends with high precision. Furthermore, if only one tip of the tweezers is configured to operate in order to simplify the mechanism, there is a drawback that the operation of the entire gripper becomes complicated when gripping a minute object. Furthermore, even if a gripper opening/closing mechanism can be realized, it is difficult to grasp the grasping state of a wire-shaped microscopic object by the gripper because the grasped object and the gripper are minute, so it is necessary to determine the positioning accuracy of the gripper and grasp the small grasping state. ) It was extremely difficult to incorporate the sensor.

[Purpose of the invention]

An object of the present invention is to provide a 4W robot robot gripper device that accurately grips a thin wire-like minute object such as a needle with a tweezers-type gripper and considers the gripping state by grasping the gripper.

[Structure of the invention]

The gripper device of the present invention has a gripper groove for stably and slidably gripping a wire-like fine object at its tip and a touch sensor bar for detecting the contact state of the wire-like fine object, and a motor. A tweezers/litter/eve gripper that is opened and closed by an opening/closing mechanism using a wire support section incorporating a detection element for grasping; a motor control section that controls opening and closing of the collar by the motor; and an A/D that converts the output signal of the detection element into a digital signal.
The present invention is characterized in that it includes a converting section, a slide control tB section that controls the sliding function of the wire support section, and a processor that controls the entire device according to an output signal from the A/D converting section.

[Effect]

When gripping a wire-like fine object with a tweezers-type gripper made up of two fingers, it is common to grip the object in a straight line from both sides of the object.

For example, the gripper is used as tweezers, and the wire-like fine object is used as a needle. Therefore, use tweezers to tighten the needle.
)) -￥、-item、te、It can be seen that the tweezers are supported by applying pressure in a straight line from both sides of the needle. However, if the tip of the tweezers is misaligned and pressure cannot be applied in a straight line from both sides of the needle, the needle will rotate and cannot be gripped.

Therefore, in order to prevent the needle from rotating and to be able to always hold the needle in a fixed position, we created a groove to guide the rock at the tip of the tweezers. The needle can be held stably in position.

Furthermore, when gripping the needle, it is possible to prevent the needle from moving too far in the direction of the root with the tweezers attached, and to provide a bar for a touch sensor adjacent to the groove to detect whether or not the tweezers are in contact with the needle. Can grip the needle.

However, even if the tweezers are closed to grasp the needle, it is impossible to know whether or not the needle is actually grasped within the groove. For this reason, when handling finer wire-like objects, it is necessary to determine whether or not they have been truly grasped.

Furthermore, in order to grip a wire-like fine object as part of the work of a microassembly robot, it is necessary to feed the wire-like fine object to an area where the wire-like fine object can be gripped. Therefore, a sensor for grasping the gripping state of the wire-like fine object by the gripper is built into the stage, arm, or the like that supplies the wire-like fine object.

With the above configuration, first, the tweezers are brought close to each other so as to sandwich the wire-like fine object in an open state.

Then, when it is detected that the wire-like fine object contacts the touch sensor bar and the tweezers are closed, the wire-like fine object is guided by the groove provided at the tip of the tweezers, and can be stably grasped.

Furthermore, the wire-like fine object is forcibly slid along the groove provided at the tip of the tweezers using the stage or arm that supplied the wire-like fine object, and the reaction force at that time causes the wire-like fine object to slide due to some reason if there is no reaction force. It is determined that the needle is not gripped, if it is within the range of reaction force, it is gripped accurately, and if it is greater than the range of reaction force, it may be gripped, but it is colliding with something. can do. In this way, the stage for supplying the gripper and the wire-like fine object, and the coordinated operation of the
．． It is possible to more accurately hold a wire-like fine object.

[:'X-'Blood Example] The present invention will be described below with reference to Figure iJr+ without giving examples.

FIG. 1 is a diagram showing an embodiment of the present invention, and FIG. 2 is a side view showing the entire gripper in FIG. Figures 2 and 3: 6. - The pusher 1r and the gripper are equipped with tweezers-type gripping parts 1a and lb, and the gripping parts have a fulcrum shaft 2 as a support for gripping N'! A spring 4 is provided which always tries to open the tips 3a, :i of 1 to 1 (lower α, gripper tips, referred to as I-). The tips of the grooves 11a, 11b'/3<7Q have parallel grooves 11a, 11b'/3<7Q on their opposing inner surfaces for stably gripping the wire-like fine object. I'm being kicked. 'It's Kei, gripper tip m<! This groove 11a
) A touch sensor bar 12 is provided adjacent to the gripper and whose tip extends in the bridging f direction, and one end of the touch sensor bar 12 is fixed to the gripper tip 3a, for example. On the other hand, a touch sensor bar 1 is attached to the gripper tip 3b.
2 is provided with a hole 13 through which it can pass. Note that the touch sensor bar 12 is for detecting the presence or absence of contact with a wire-like minute object.

The opening/closing mechanism section for opening and closing such a gripper has the following configuration. The gripping parts 1a, lb are provided with screw holes 5a, 5b, respectively, between their tips and the fulcrum shaft 2, and screw holes 5a, 5b are provided in these screw holes, respectively.
A screw type center bar 6 is attached. This threaded center bar has a right-handed thread and a left-handed thread with the center part as a boundary, and when the center bar 6 rotates in one direction, the gripper tips 3a and 3b open, and when it rotates in the other direction, the gripper tips open. Holding parts 1a and lb so that the parts are closed
to operate. As mentioned above, since the spring 4 always applies force in the direction of opening the gripper tips 3a, 3b, the threaded center bar 6 and the gripper tips 3a, 3b
Hold back the rattling. A worm gear lure is fixed to the center of the tonter bar 6, and a worm 8 that engages with the worm wheel is provided, and this worm gear is connected to the rotating shaft of the motor 9. ,1
In the tree nut example, Mo<, No. 9 and Ine No. 4 are fixed jig 10! , fixed from the second r color. Of course, the X7 support shaft 2 may be connected to the fixing jig 10.

FIG. 1 shows a block configuration diagram of two grippers having grippers as described above. This gripper tip (
The gripper tip 31 . +, groove 11a of 3b, a detection element having a sliding function in the direction of arrow 15 parallel to the direction of IIM), and for grasping the gripping state of the wire-shaped fine object 14 gripped by the gripper tips 3a, 31]; For example, pressure ff1i
) I6-incorporated stage or ar-y-1, etc. 9) Wire support part 17 and this wire support part, 3+) Slurr:
A slide control section 120 that controls the gripper function, an A/D conversion section 110 that converts an output analog signal from the piezoelectric G, and a gripper tip 3.
It further includes a motor control section 50 that controls a motor 9 that controls opening and closing of the openings a and 3b, and a processor 100 that controls the entire device.

Next, the operation of the tip of the gripper configured as above will be explained. When the gripper attempts to grip the wire-shaped fine object 14 supported by the wire support section 17, the gripper tips 3a and 3b are kept open. This is motor 9
This is done by rotating the worm gears 7, 8 and rotating the screw type center par 6. The gripper approaches the wire-like fine object 14 that it is trying to grip,
When the touch sensor bar 12 comes into contact with the wire-like minute object 14, the touch sensor bar sends a detection signal to the motor control unit 50. The motor control section includes a touch sensor bar 12
The signal obtained is converted into, for example, a digital signal and processed, and the motor 9 is driven to rotate the worm 8.

When the worm 8 rotates, the worm wheel 7 that meshes with it rotates, and therefore the center bar 6 rotates.
Gripper tip 3a.

Close 3b. At this time, the touch sensor bar 12 is
It passes through the through hole 13 of the gripper tip 3b and projects on the outer surface of the gripper tip 3b. Then, the wire-like fine object 14 is gripped so as to fit into the grooves 11a and llb at the tip of the gripper.

Next, the wire support section 17 is forcibly slid under the control of the slide control section 120 so as to push up the wire-shaped fine object 14 held by the gripper.

At this time, the force applied to the piezoelectric element 16 is input to the A/D converter 110 as an analog electrical signal, converted to a digital signal, and sent to the processor 100. processor 1
00, when the wire support part 17 is forced to slide based on the digital signal, the wire-shaped fine object 14 may be gripped if the wire support part 17 is definitely gripped. However, it is possible to determine that the wire-like minute object 14 is colliding with something. Based on this determination result, the slide control unit 1
20. It is possible to control the motor control unit 50 and the like and move on to the next process or operation.

[Efficacy of invention Song Dynasty]

Therefore, by using the gripper device of the present invention, even very thin wire-like minute objects such as needles can be handled more accurately by cooperative operation between the gripper and the stage or arm that supplies the wire-like minute objects. It is possible to grasp a wire-like minute object, and high-precision positioning and operation can be easily achieved. Furthermore, since the configuration is very simple, a highly reliable gripper mechanism can be easily realized.

[Brief explanation of drawings]

Fig. 1 is a block diagram showing an embodiment of the present invention, Fig. 2 is a side view of the gripper according to the embodiment of Fig. 1, and Fig. 3 is a view of the gripper of Fig. 1 viewed from below. be. la, lb... Gripping part 2...... Support shafts 3a, 3
b...Gripper tip 4......
・・・・・・ Wings 5a, 5b ・・・ Screw holes

Claims (1)

[Claims] (1) A groove for stably and slidably gripping a wire-like microscopic object and a touch sensor bar for detecting the contact state of the wire-like microscopic object are built into the tip, and an opening/closing mechanism using a motor A tweezers-type gripper that is opened and closed by the gripper, and a sliding function that slides the wire-like fine object gripped by the gripper, and a detection element is incorporated therein to grasp the grasping state of the wire-like fine object by sliding it. a motor control unit that controls opening and closing of the gripper by the motor; and an A/D that converts the output signal of the detection element into a digital signal.
A gripper device comprising: a conversion section; a slide control section that controls a slide function of the wire support section; and a processor that controls the entire device according to an output signal from the A/D conversion section.