JP2021053786A - Electric gripper - Google Patents

Electric gripper Download PDF

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JP2021053786A
JP2021053786A JP2019181738A JP2019181738A JP2021053786A JP 2021053786 A JP2021053786 A JP 2021053786A JP 2019181738 A JP2019181738 A JP 2019181738A JP 2019181738 A JP2019181738 A JP 2019181738A JP 2021053786 A JP2021053786 A JP 2021053786A
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motor
screw shaft
case
pin
electric gripper
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JP7384381B2 (en
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佐藤　英明
Hideaki Sato
英明 佐藤
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Key Safety Systems Japan KK
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Abstract

To provide an electric gripper that is relatively simply constituted and that enables high-precision gripping of a gripping part by relaxing an impact load.SOLUTION: Rotation from a motor 10 is transmitted to a screw shaft 12 via gear coupling 25 and gears 26 and 18, and nut parts 14b and 14a are screwed to right and left screw parts 12b and 12a so as to linearly move gripping parts 7 and 7. The gear coupling 25 and the gear 26 are connected together via a pin 27 that is fitted and inserted into a pin hole. An O-ring 29 serving as a buffer member is fitted to the pin 27. An impact load in the gripping of the gripping part is absorbed by elastic deformation of the O-ring 29.SELECTED DRAWING: Figure 2

Description

本発明は、ワーク等の部材を把持する電動グリッパに係り、特に把持される部材の位置を検出し得る電動グリッパに関する。 The present invention relates to an electric gripper that grips a member such as a work, and particularly relates to an electric gripper that can detect the position of the member to be gripped.

従来、モータの回転を左右ネジ部を有するネジ軸に伝達し、該ネジ軸の左右ネジ部にそれぞれ左右のナット部を螺合し、これらナット部材に連結した把持部を直線方向に緩動自在に支持した電動グリッパは存在する（特許文献１）。該電動グリッパは、モータの回転により１対の把持部を互いに近接するように移動して、異なるワークを同一軸心位置で把持し得る。 Conventionally, the rotation of the motor is transmitted to the screw shaft having the left and right screw portions, the left and right nut portions are screwed into the left and right screw portions of the screw shaft, respectively, and the grip portion connected to these nut members can be freely moved in the linear direction. There is an electric gripper supported by the above (Patent Document 1). The electric gripper can move a pair of gripping portions close to each other by the rotation of the motor to grip different workpieces at the same axial position.

また、上述と同様に、モータで回転されるネジ軸の左右ネジ部に把持部をスライド自在に支持したロボット装置用モジュールが提案されている（特許文献２）。該ロボット装置用モジュールは、モータにサーボモータを用い、左右の把持部（ジョー）を任意の位置で停止したり、左右の把持部を高速度で駆動して、ワークを把持する寸前で把持部の動きを減速させることにより、ワークに対する衝撃を与えずに把持することが可能となる。 Further, similarly to the above, a module for a robot device in which a grip portion is slidably supported on the left and right screw portions of a screw shaft rotated by a motor has been proposed (Patent Document 2). The robot device module uses a servomotor as a motor to stop the left and right grips (jaws) at arbitrary positions, or drive the left and right grips at a high speed to grip the workpiece just before gripping the work. By decelerating the movement of the work, it becomes possible to grip the work without giving an impact to the work.

また、該ロボット装置用モジュールは、駆動用の上記サーボモータに連動して位置検出用のエンコーダが設けられており、把持部がワークを把持する際に、把持部の位置を検出することができる。 Further, the robot device module is provided with an encoder for position detection in conjunction with the servomotor for driving, and can detect the position of the grip portion when the grip portion grips the work. ..

特開昭５６−１３４１９２号公報Japanese Unexamined Patent Publication No. 56-134192 特開平６−１１４７６０号公報Japanese Unexamined Patent Publication No. 6-114760

上記特許文献１の電動グリッパは、ナット部と把持部との間に緩衝バネが介在しており、把持部がワークを把持する状態では左右のナット部に配置された各緩衝バネがそれぞれ圧縮され、把持衝撃を緩和することが可能であるが、把持部がワークを把持した状態では、左右のナット部とそれぞれの把持部との間の緩衝バネの圧縮度が相違し、ワークの工作機械への供給位置又は取出し位置の精度が十分ではない。 In the electric gripper of Patent Document 1, a buffer spring is interposed between the nut portion and the grip portion, and when the grip portion grips the work, each buffer spring arranged on the left and right nut portions is compressed. , It is possible to alleviate the gripping impact, but when the gripping part grips the work, the degree of compression of the buffer spring between the left and right nut parts and each gripping part is different, and the work machine tool The accuracy of the supply position or the take-out position is not sufficient.

また、上記特許文献２のロボット装置用モジュールは、サーボモータの制御によりワークに対する衝撃を緩和することが可能であるが、サーボモータの設定、特にサイズの異なるワークの場合又は把持位置、解放位置が一定でない場合、その制御操作が面倒であり、工作機械へのワークの供給又は取出し等の通常の電動グリッパとして使用することは困難である。 Further, the module for the robot device of Patent Document 2 can reduce the impact on the work by controlling the servomotor, but the setting of the servomotor, particularly in the case of a work having a different size, or the gripping position and the release position are different. If it is not constant, the control operation is troublesome, and it is difficult to use it as a normal electric gripper for supplying or taking out a work to a machine tool.

また、位置検出用エンコーダをサーボモータに直結連結して設けているため、該エンコーダは、モータと把持部との間の伝動誤差、例えばモータとネジ軸との間のギヤのバックラッシュ、左右ネジ部とナット部との螺合隙間の影響を受けて、高い精度で検出することはできず、精度の高い把持部の位置決め制御は、困難である。 Further, since the position detection encoder is directly connected to the servomotor, the encoder has a transmission error between the motor and the grip portion, for example, gear backlash between the motor and the screw shaft, and left and right screws. Due to the influence of the screwing gap between the portion and the nut portion, it cannot be detected with high accuracy, and it is difficult to control the positioning of the grip portion with high accuracy.

そこで、本発明は、比較的簡単な構成でもって、衝撃荷重を緩和して、高精度の把持部の把持を可能とし、もって上述した課題を解決した電動グリッパを提供することを目的とする。 Therefore, an object of the present invention is to provide an electric gripper that has a relatively simple structure, relaxes an impact load, enables gripping of a gripping portion with high accuracy, and thus solves the above-mentioned problems.

本発明は、モータ（１０）の回転を、左ネジ部（１２ａ）及び右ネジ部（１２ｂ）を有するネジ軸（１２）に伝動し、前記左ネジ部及び右ネジ部に直動案内される左ナット部（１４ａ）及び右ナット部（１４ｂ）を螺合して、前記左ナット部及び右ナット部にそれぞれ把持部（７，７）を設けた電動グリッパ（１）において、
前記モータ（１０）からネジ軸（１２）への伝動経路（Ｄ）に、前記把持部（７，７）が被把持部材を把持する把持力より大きな衝撃荷重（Ｋ）を吸収する緩衝部材（２９）を介在する、ことを特徴とする。 In the present invention, the rotation of the motor (10) is transmitted to the screw shaft (12) having the left-hand thread portion (12a) and the right-hand thread portion (12b), and is linearly guided to the left-hand thread portion and the right-hand thread portion. In the electric gripper (1) in which the left nut portion (14a) and the right nut portion (14b) are screwed together and the left nut portion and the right nut portion are provided with grip portions (7, 7), respectively.
A cushioning member (K) that absorbs an impact load (K) larger than the gripping force by which the gripping portions (7, 7) grip the member to be gripped in the transmission path (D) from the motor (10) to the screw shaft (12). It is characterized by interposing 29).

例えば図５，図７を参照して、前記伝動経路（Ｄ）に、相対回転可能に支持された２個の部材（２５）（２６）を隣接して配置し、前記２個の部材に形成したピン孔（２５ａ）（２６ａ）にピン（２７）を嵌挿して連結し、
前記ピン（２７）とピン孔（２６ａ）との連結部分に前記緩衝部材（２９）（２９２）を介在してなる。 For example, with reference to FIGS. 5 and 7, two members (25) and (26) supported so as to be relatively rotatable are arranged adjacent to each other in the transmission path (D) and formed into the two members. The pins (27) are inserted into the pin holes (25a) and (26a) to be connected to each other.
Formed by interposing the cushioning member to the connecting portion (29) (29 2) of said pin (27) and pin holes (26a).

前記ピン（２７）の一方のピン孔（２６ａ）部分に環状ゴム製の緩衝部材（２９）（２９２）を被嵌して、前記衝撃荷重により該緩衝部材が前記ピン（２７）と一方のピン孔（２６ａ）との間で変形して、該衝撃荷重を吸収してなる。 Said pin (27) one pin hole of (26a) an annular rubber cushion member on a portion (29) (29 2) was fitted on the, the buffer member by the impact load is the pin (27) and one of the It is deformed with the pin hole (26a) to absorb the impact load.

前記環状ゴム製の緩衝部材がＯリング（２９）である。 The annular rubber cushioning member is an O-ring (29).

ケース（２）に、前記モータ（１０）及び前記ネジ軸（１２）を平行に配置し、
前記モータ（１０）の出力軸（１０ａ）と前記ネジ軸（１２）とを、前記ケース（２）の一側方に配置した前記伝動経路（Ｄ）で連動し、
前記２個の部材は、前記モータ（１０）の出力軸（１０ａ）に固定されたギヤカップリング（２５）と前記ネジ軸に設けられたギヤ（１８）に噛合するギヤ（２６）とからなる。 The motor (10) and the screw shaft (12) are arranged in parallel in the case (2).
The output shaft (10a) of the motor (10) and the screw shaft (12) are interlocked with each other by the transmission path (D) arranged on one side of the case (2).
The two members include a gear coupling (25) fixed to the output shaft (10a) of the motor (10) and a gear (26) that meshes with a gear (18) provided on the screw shaft. ..

前記左ナット部（１４ａ）及び右ナット部（１４ｂ）のいずれか一方にスケール（２０）を固定し、前記モータ（１０）及びネジ軸（１２）を収納するケース（２）に、前記スケール（２０）を検出し得るエンコーダ（２１）を配置してなる。 The scale (20) is fixed to either the left nut portion (14a) or the right nut portion (14b), and the scale (2) is placed in a case (2) for accommodating the motor (10) and the screw shaft (12). An encoder (21) capable of detecting 20) is arranged.

前記モータ（１０）を前記ケース（２）の上側に配置し、前記ネジ軸（１２）を前記ケース（２）の下側に配置し、
前記ケース（２）の上側に配置した前記モータ（１０）を上ケース（３）に挟込むようにして、該モータを設置し、
前記ケース（２）の前記ネジ軸（１２）の下方にレール（１６）を配置し、前記左ナット部（１４ａ）及び右ナット部（１４ｂ）に、それぞれ前記レール（１６）に係合して直動案内するリニアガイド（１７ａ）（１７ｂ）を固定してなる。 The motor (10) is arranged above the case (2), and the screw shaft (12) is arranged below the case (2).
The motor (10) arranged on the upper side of the case (2) is sandwiched between the upper case (3), and the motor is installed.
A rail (16) is arranged below the screw shaft (12) of the case (2), and the left nut portion (14a) and the right nut portion (14b) are engaged with the rail (16), respectively. The linear guides (17a) and (17b) that guide the linear motion are fixed.

なお、上記カッコ内の符号は、図面と対照するためのものであるが、これにより特許請求の範囲の記載に何等影響を及ぼすものではない。 The reference numerals in parentheses are for comparison with the drawings, but do not affect the description of the claims.

請求項１に係る本発明によると、電動モータからネジ軸への伝動経路に、把持力より大きな衝撃荷重を吸収する緩衝部材を介在したので、比較的簡単な構成であって、把持部が被把持部材を把持する際又は把持部がエンド部材に衝接する際に生ずる瞬間的な衝撃荷重を上記緩衝部材が変形することにより吸収することができる。これにより、把持部に作用する衝撃荷重が緩和され、被把持部材を滑らかに把持することができ、かつ伝動経路における回転伝動力の衝撃吸収であるので、サーボモータ等の高度の制御を必要とする複雑で高価なモータを用いることなく、ＤＣモータ等の通常のモータを用いて、把持部の把持位置は、高い精度で保持され、かつワーク等の被把持部材及びギヤ等の伝動部材に作用する衝撃荷重は低減されて、高精度の把持部による把持を長期間に亘って維持することができる。 According to the first aspect of the present invention, since a cushioning member that absorbs an impact load larger than the gripping force is interposed in the transmission path from the electric motor to the screw shaft, the structure is relatively simple and the gripping portion is covered. The momentary impact load generated when the gripping member is gripped or when the gripping portion abuts on the end member can be absorbed by the deformation of the cushioning member. As a result, the impact load acting on the grip portion is relaxed, the gripped member can be gripped smoothly, and the impact absorption of the rotational power transmission in the transmission path requires a high degree of control of the servo motor or the like. The gripping position of the gripping portion is held with high accuracy by using a normal motor such as a DC motor without using a complicated and expensive motor, and acts on a gripped member such as a work and a transmission member such as a gear. The impact load to be applied is reduced, and the grip by the high-precision grip portion can be maintained for a long period of time.

請求項２に係る本発明によると、隣接する２個の部材をピンで連結し、該ピンとピン孔との連結部分に前記緩衝部材を介在するので、緩衝部材をコンパクトに配置して、電動グリッパの小型化を図ることができる。 According to the second aspect of the present invention, two adjacent members are connected by a pin, and the cushioning member is interposed at the connecting portion between the pin and the pin hole. Can be miniaturized.

請求項３に係る本発明によると、ピンと一方のピン孔部分に環状ゴム製の緩衝部材を被嵌する簡単な構成でもって、衝撃荷重を該環状ゴム製の緩衝部材の弾性変形により吸収することができる。 According to the third aspect of the present invention, the impact load is absorbed by the elastic deformation of the annular rubber cushioning member with a simple structure in which the pin and one pin hole portion are fitted with the annular rubber cushioning member. Can be done.

請求項４に係る本発明によると、緩衝部材がＯリングであるので、シール部材として一般的なＯリングを緩衝部材に適用して、該Ｏリングがピンへの装着及びピン孔への嵌挿が容易であることが相俟って、大幅なコストダウン及び組立て性の向上を図ることができ、かつＯリングは、相当の厚さを有し、衝撃荷重を高い割合で吸収することができる。 According to the fourth aspect of the present invention, since the cushioning member is an O-ring, a general O-ring as a sealing member is applied to the cushioning member, and the O-ring is attached to a pin and fitted into a pin hole. Combined with the ease of use, it is possible to significantly reduce costs and improve assemblability, and the O-ring has a considerable thickness and can absorb an impact load at a high rate. ..

請求項５に係る本発明によると、モータ及びネジ軸を平行に配置し、モータ出力軸とネジ軸とを伝動経路で連動したので、全体で略々長方形のコンパクトな構成からなり、かつ上記緩衝部材を介在する２個の部材を、モータ出力軸に固定されたギヤカップリングと隣接するギヤとしたので、ネジ軸の長さを確保することができる。 According to the present invention according to claim 5, since the motor and the screw shaft are arranged in parallel and the motor output shaft and the screw shaft are interlocked with each other by a transmission path, the motor and the screw shaft are interlocked with each other by a transmission path. Since the two members sandwiching the members are gears adjacent to the gear coupling fixed to the motor output shaft, the length of the screw shaft can be secured.

請求項６に係る本発明によると、左右ナット部の一方にスケールを固定し、該スケールをケースに配置したエンコーダで検出するので、一方のナット部の直動移動位置を直接エンコーダで監視することができ、伝動経路のバックラッシュやヒステリシスの影響を受けずに、正確に把持部材位置を検出することができ、かつ一方のナット部の検出により、ネジ軸で一体化されている他方のナット部の位置も認識でき、比較的簡単な構成でもって、電動グリッパの高い精度での位置決め制御が可能となる。 According to the sixth aspect of the present invention, since the scale is fixed to one of the left and right nut portions and the scale is detected by the encoder arranged in the case, the linear movement position of one nut portion is directly monitored by the encoder. The position of the gripping member can be accurately detected without being affected by backlash or hysteresis in the transmission path, and by detecting one nut, the other nut is integrated with the screw shaft. With a relatively simple configuration, it is possible to control the positioning of the electric gripper with high accuracy.

請求項７に係る本発明によると、ケースの上側にモータを載置し、該モータをケースと上ケースで挟込むようにして設置したので、モータの組付けや交換を容易に行うことができる。また、ケースの下側にネジ軸を配置し、該ネジ軸の下側にレールを配置して、該レールにナット部に一体のリニアガイドを係合して、左右ナット部を直動案内するので、レールは、上記直動案内の外、ネジ軸のグリースを収納するカバーを兼用することが可能となる。 According to the seventh aspect of the present invention, since the motor is placed on the upper side of the case and the motor is sandwiched between the case and the upper case, the motor can be easily assembled and replaced. Further, a screw shaft is arranged on the lower side of the case, a rail is arranged on the lower side of the screw shaft, and a linear guide integrated with the nut portion is engaged with the rail to guide the left and right nut portions in a linear motion. Therefore, the rail can also serve as a cover for storing the grease of the screw shaft in addition to the linear motion guide.

本発明に係る電動グリッパの全体を示す図で、（Ａ）及び（Ｂ）は異なる方向からみた斜視図。It is a figure which shows the whole of the electric gripper which concerns on this invention, (A) and (B) are perspective views which looked at from different directions. 電動グリッパの中央断面図。Central sectional view of the electric gripper. 電動グリッパ全体の分解斜視図。An exploded perspective view of the entire electric gripper. 電動グリッパの主要部を示す図で、（Ａ）は斜視図、（Ｂ）は正面図、（Ｃ）は平面図、（Ｄ）は側面図。It is a figure which shows the main part of the electric gripper, (A) is a perspective view, (B) is a front view, (C) is a plan view, (D) is a side view. 電動グリッパのモータ及びモータからの出力部分を示し、（Ａ）は正面図、（Ｂ）は側面図、（Ｃ）は分解斜視図。The motor of the electric gripper and the output portion from the motor are shown, (A) is a front view, (B) is a side view, and (C) is an exploded perspective view. 把持部がワークを把持する際の把持力を示す図で、（Ａ）は緩衝部材がない場合を示し、（Ｂ）は緩衝部材がある場合を示す。In the figure which shows the gripping force when the gripping part grips a work, (A) shows the case where there is no cushioning member, and (B) shows the case where there is a cushioning member. 緩衝部材を変更したモータの出力部分を示す斜視図。The perspective view which shows the output part of the motor which changed the cushioning member.

以下、図面に沿って、本発明の実施の形態について説明する。電動グリッパ１は、図１に示すように、ケース２に、上ケース３が固定されると共にカバー５及び側面カバー６が固定されて、全体で略々長方形からなり、下方に２本の把持部７，７が突出している。 Hereinafter, embodiments of the present invention will be described with reference to the drawings. As shown in FIG. 1, the electric gripper 1 has an upper case 3 fixed to the case 2 and a cover 5 and a side cover 6 fixed to the case 2. 7 and 7 are protruding.

電動グリッパ１は、図２及び図３に示すように、ケース２上面のモータ収納部２ａと上ケース３下面のモータ収納部３ａとの間に、可撓性シート９，９を介在してギヤ付きＤＣモータからなるモータ１０が挟み込まれるように収納され、該モータ１０は、上ケース３をケース２にボルトで固定することにより配置される。ケース２下部の両側に延びる支持部２ｂ，２ｃにベアリング１１，１３を介してネジ軸１２が回転自在に支持されている。ネジ軸１２は、巻方向の異なる左ネジ部（又は右ネジ部）１２ａと右ネジ部（又は左ネジ部）１２ｂとを左右に有し、これら左ネジ部１２ａと右ネジ部１２ｂにそれぞれ左ナット部１４ａ及び右ナット部１４ｂが螺合している。また、上記ネジ軸１２一端の支持部２ｂの外側にはギヤ１８が一体に固定されている。 As shown in FIGS. 2 and 3, the electric gripper 1 has gears with flexible sheets 9 and 9 interposed between the motor storage portion 2a on the upper surface of the case 2 and the motor storage portion 3a on the lower surface of the upper case 3. The motor 10 composed of the attached DC motor is housed so as to be sandwiched, and the motor 10 is arranged by fixing the upper case 3 to the case 2 with a bolt. The screw shaft 12 is rotatably supported by the support portions 2b and 2c extending on both sides of the lower portion of the case 2 via the bearings 11 and 13. The screw shaft 12 has a left-handed screw portion (or right-handed screw portion) 12a and a right-handed screw portion (or left-handed screw portion) 12b having different winding directions on the left and right, and the left-handed screw portion 12a and the right-handed screw portion 12b are left respectively. The nut portion 14a and the right nut portion 14b are screwed together. Further, a gear 18 is integrally fixed to the outside of the support portion 2b at one end of the screw shaft 12.

図３及び図４に示すように、ケース２の左右支持部２ｂ，２ｃ下端に下部プレート１５が固定されており、該下部プレートの上面にはレール１６が一体に固定されている。上記左ナット部１４ａ及び右ナット部１４ｂの下面にはリニアガイド１７ａ，１７ｂがそれぞれ固定されており、リニアガイド１７ａ，１７ｂは、それぞれレール１６の両側面の凹溝に係合して、レールに沿う直動方向に移動自在に支持されている。上記左右のナット部１４ａ，１４ｂの両側面には前記把持部７，７のプレート部７ａ，７ａがなべ小ネジにより一体に固定されており、これら把持部７，７は、下方に延びてワーク等の被把持部材を把持し又は解放し得る。 As shown in FIGS. 3 and 4, the lower plate 15 is fixed to the lower ends of the left and right support portions 2b and 2c of the case 2, and the rail 16 is integrally fixed to the upper surface of the lower plate. Linear guides 17a and 17b are fixed to the lower surfaces of the left nut portion 14a and the right nut portion 14b, respectively, and the linear guides 17a and 17b engage with the concave grooves on both side surfaces of the rail 16 to form the rail. It is supported so that it can move in the direction of linear motion along it. Plate portions 7a and 7a of the grip portions 7 and 7 are integrally fixed to both side surfaces of the left and right nut portions 14a and 14b by pan head machine screws, and these grip portions 7 and 7 extend downward to work. Etc. can be gripped or released.

一方（左側）のナット部１４ｂの一側上部にはスケールホルダ１９を介してスケール２０が一体に固定される。また、ケース２の上記スケール２０が位置する側にはリニアエンコーダ２１が配置されており、該リニアエンコーダ２１は、上記スケール２０を検出して、一方のナット部１４ｂの位置、従って左右対称に移動し得る両把持部７，７の位置及び間隔を検出し得る。 On the other hand (left side), the scale 20 is integrally fixed to the upper part of one side of the nut portion 14b via the scale holder 19. Further, a linear encoder 21 is arranged on the side of the case 2 where the scale 20 is located, and the linear encoder 21 detects the scale 20 and moves to the position of one nut portion 14b, and therefore symmetrically. It is possible to detect the positions and intervals of both gripping portions 7 and 7.

図５に示すように、前記モータ１０の出力軸１０ａにはギヤカップリング２５が相対回転不能に支持されており、また、該ギヤカップリング２５の外側に延びるスリーブ２５ｃにはギヤ２６が回転自在に支持されており、これらギヤカップリング２５及びギヤ２６はスナップリング２８により出力軸１０ａに抜止めされて支持されている。円板状のギヤカップリング２５には等間隔、例えば１８０度間隔でピン孔２５ａ，２５ａが形成されており、またギヤ２６にも同様なピン孔２６ａ，２６ａが形成されている。ギヤカップリング２５及びギヤ２６の整列したピン孔２５ａ，２６ａにピン２７，２７が貫通、支持される。ピン２７は、段付の異径ピンからなり、その大径部がギヤ２６のピン孔２６ａ，２６ａに嵌合する。該大径部には環状の凹溝２７ａが形成されており、該凹溝２７ａに、環状でゴム製の緩衝部材を構成するＯリング２９が被嵌されている。 As shown in FIG. 5, a gear coupling 25 is supported on the output shaft 10a of the motor 10 so as not to rotate relative to each other, and a gear 26 is rotatable on a sleeve 25c extending to the outside of the gear coupling 25. The gear coupling 25 and the gear 26 are supported by the output shaft 10a by the snap ring 28. The disc-shaped gear coupling 25 is formed with pin holes 25a and 25a at equal intervals, for example, at 180 degree intervals, and the gear 26 is also formed with similar pin holes 26a and 26a. Pins 27 and 27 penetrate and are supported through the aligned pin holes 25a and 26a of the gear coupling 25 and the gear 26. The pin 27 is composed of a stepped pin having a different diameter, and the large diameter portion is fitted into the pin holes 26a and 26a of the gear 26. An annular concave groove 27a is formed in the large diameter portion, and an O-ring 29 forming an annular rubber cushioning member is fitted in the concave groove 27a.

従って、モータ１０の回転は、伝動経路Ｄであるギヤカップリング２５からピン２７及びＯリング２９を介してギヤ２６に伝達され、ギヤ２６に把持部７からの衝撃荷重が作用した場合、Ｏリング２９が圧縮変形して一時的に該衝撃荷重を吸収する。ギヤ２６は、前記ネジ軸１２に連結されたギヤ１８に噛合しており、モータ１０の回転は、ギヤ２６，１８を介してネジ軸１２に伝達される。エンコーダ２１及びモータ１０は、リード線を介して中継基材３０に連結され、１つのコネクタにまとめてケーブルに接続される。 Therefore, the rotation of the motor 10 is transmitted from the gear coupling 25, which is the transmission path D, to the gear 26 via the pin 27 and the O-ring 29, and when an impact load from the grip portion 7 acts on the gear 26, the O-ring 29 is compressed and deformed to temporarily absorb the impact load. The gear 26 meshes with the gear 18 connected to the screw shaft 12, and the rotation of the motor 10 is transmitted to the screw shaft 12 via the gears 26 and 18. The encoder 21 and the motor 10 are connected to the relay base material 30 via lead wires, and are collectively connected to the cable in one connector.

なお、Ｏリング等からなる緩衝部材は、上記ギヤカップリング２５及びギヤ２６を連結するピン２７に被嵌、配置されるものに限らず、伝動経路Ｄを構成する、隣接して相対回転する２個の部材に配置すればよく、例えばモータ出力軸１０ａとギヤ（伝動部材）２６との間、ギヤ（伝動部材）１８とネジ軸１２との間等の伝動経路のどこでもよい。 The cushioning member made of an O-ring or the like is not limited to the one fitted and arranged on the pin 27 connecting the gear coupling 25 and the gear 26, and constitutes the transmission path D and rotates relative to each other 2 It may be arranged on individual members, and may be anywhere in the transmission path, for example, between the motor output shaft 10a and the gear (transmission member) 26, between the gear (transmission member) 18 and the screw shaft 12.

本電動グリッパ１は、上述した構成に基づき、ＤＣモータ１０の回転がギヤカップリング２５、ピン２７及びＯリング２９を介してギヤ２６に伝達され、更にギヤ１８を介してネジ軸１２に伝達されて該ネジ軸１２を回転する。該ネジ軸１２の左ネジ部１２ａ及び右ネジ部１２ｂに螺合している左右のナット部１４ａ，１４ｂは、リニアガイド１７ａ，１７ｂがレール１６に案内されることにより互いに異なる方向に直線移動する。例えば、左右のナット部１４ａ，１４ｂが互いに接近する方向に移動することにより、把持部７，７は、ワークを把持する。 In the electric gripper 1, the rotation of the DC motor 10 is transmitted to the gear 26 via the gear coupling 25, the pin 27 and the O-ring 29, and further transmitted to the screw shaft 12 via the gear 18 based on the above-described configuration. The screw shaft 12 is rotated. The left and right nut portions 14a and 14b screwed into the left-hand thread portion 12a and the right-hand thread portion 12b of the screw shaft 12 linearly move in different directions when the linear guides 17a and 17b are guided by the rail 16. .. For example, the grip portions 7 and 7 grip the work by moving the left and right nut portions 14a and 14b in the direction of approaching each other.

該把持部７，７がワークを把持する際、図６（Ａ）に示すように、把持部がワークに当接して移動が停止する状態になるまでに、上記モータ１０から把持部７に伝達する慣性力により、実際の把持力より大きな衝撃荷重Ｋが瞬間的に作用する。前記緩衝部材を構成するＯリング２９がない場合、該衝撃荷重Ｋが把持部７，７、及びモータ１０及び該モータからの伝達経路Ｄに作用する。本実施の形態にあっては、モータ１０からピン２７及びＯリング２９を介してギヤ２６にトルク伝達する際、Ｏリング２９が弾性変形することにより、上記衝撃荷重Ｋは、吸収されて緩和され、図６（Ｂ）に示すように、把持位置から把持状態まで、把持力は滑らかに移行する。 When the gripping portions 7 and 7 grip the work, as shown in FIG. 6A, the motor 10 transmits the work to the gripping portion 7 until the gripping portion comes into contact with the work and stops moving. Due to the inertial force applied, an impact load K larger than the actual gripping force acts instantaneously. When there is no O-ring 29 constituting the cushioning member, the impact load K acts on the grip portions 7, 7, the motor 10, and the transmission path D from the motor. In the present embodiment, when torque is transmitted from the motor 10 to the gear 26 via the pin 27 and the O-ring 29, the O-ring 29 is elastically deformed, so that the impact load K is absorbed and relaxed. , As shown in FIG. 6B, the gripping force smoothly shifts from the gripping position to the gripping state.

把持部７，７によるワークの把持を解放する際にはモータ１０を逆方向に回転する。これにより、左右のナット部１４ａ，１４ｂ及び把持部７，７は、互に離間する方向に移動し、把持部によるワークの把持を解放する。更に、左右のナット部１４ａ，１４ｂが離れる方向に移動し、ナット部が支持部２ｂ，２ｃ（ケース２）に当接する。この際も、上記ワーク把持時と同様に衝撃荷重Ｋが作用するが、該衝撃荷重は、緩衝部材（Ｏリング）２９に吸収されて緩和され、ナット部１４ａ，１４ｂは滑らかに停止する。 When releasing the grip of the work by the grips 7 and 7, the motor 10 is rotated in the opposite direction. As a result, the left and right nut portions 14a and 14b and the grip portions 7 and 7 move in a direction in which they are separated from each other, and the grip portion grips the work. Further, the left and right nut portions 14a and 14b move in a direction away from each other, and the nut portions come into contact with the support portions 2b and 2c (case 2). At this time as well, the impact load K acts as in the case of gripping the work, but the impact load is absorbed by the cushioning member (O-ring) 29 and relaxed, and the nut portions 14a and 14b stop smoothly.

前記把持部７，７にワークを把持する際、一方のナット部１４ｂのスケール２０をエンコーダ２１が検出することにより、一方の把持部７の位置を直接的に検出する。該一方の把持部７の位置により他方の把持部の位置も認知され、把持部７，７の把持位置を検出できる。該エンコーダ２１による位置検出は、把持部７と一体のナット部１４ｂを直接検出するので、伝動部材等の機械的バックラッシュやヒステリシスの影響を受けずに、正確な位置検出が可能である。電動グリッパ１は、該エンコーダ２１による位置検出により、精度の高い位置決め制御を行い得る。 When the workpiece is gripped by the grip portions 7 and 7, the encoder 21 detects the scale 20 of one nut portion 14b to directly detect the position of the one grip portion 7. The position of the other grip portion is also recognized by the position of the one grip portion 7, and the grip positions of the grip portions 7 and 7 can be detected. Since the position detection by the encoder 21 directly detects the nut portion 14b integrated with the grip portion 7, accurate position detection is possible without being affected by mechanical backlash or hysteresis of the transmission member or the like. The electric gripper 1 can perform highly accurate positioning control by detecting the position by the encoder 21.

前記モータ１０は、ケース２のモータ収納部２ａと上ケース３のモータ収納部３ａとの間に挟み込むことにより保持される。従って、モータの組付けや交換を容易に行うことができる。また、ナット部１４ａ，１４ｂは、ネジ軸１２下方に取付けた下部プレート１５に設けたレール１６に直動案内される。従って、該下部プレート１５及びレール１６は、ネジ軸１２部分のグリースを受けるグリースカバーとして機能する。 The motor 10 is held by being sandwiched between the motor storage portion 2a of the case 2 and the motor storage portion 3a of the upper case 3. Therefore, the motor can be easily assembled and replaced. Further, the nut portions 14a and 14b are linearly guided by the rail 16 provided on the lower plate 15 attached below the screw shaft 12. Therefore, the lower plate 15 and the rail 16 function as a grease cover for receiving the grease of the screw shaft 12 portion.

図７は、緩衝部材を変更した実施の形態を示す。ギヤカップリング２５に装着したピン２７に、Ｏリングに代えて円筒形のゴムブシュ２９２を被嵌する。該ゴムブシュ２９２をギヤ２６のピン孔２６ａに被嵌して、ギヤ２６及びギヤカップリング２５をスナップリング２８により抜止め支持する。 FIG. 7 shows an embodiment in which the cushioning member is changed. A pin 27 mounted on the gear coupling 25 is fitted on the rubber bush 29 second cylindrical instead of O-ring. The rubber bush 29 2 and fitted into the pin hole 26a of the gear 26, supports retaining the gear 26 and the gear coupling 25 by a snap ring 28.

従って、本実施の形態にあっても、衝撃荷重に対してゴムブシュ２９２が弾性変形することにより吸収、緩和され、把持部７，７は、滑らかにワークを把持し、またケース２に当接して停止する。 Therefore, even in the present embodiment, the absorption by the rubber bush 29 2 with respect to the impact load is elastically deformed, is relaxed, the grip portion 7, 7 smoothly grip the workpiece, also in contact with the casing 2 And stop.

なお、緩衝材は、上記Ｏリング２９又はゴムブシュ２９２に限らず、ピン自体に弾性をもたせてもよく、またピン孔にゴムブシュなどの弾性部材を嵌合、固定してもよい。更に、緩衝部材は、ギヤカップリング２５等にばねを介在した相対回転部分を設けるもの等の他のものでもよく、更にその配置は、モータ１０からネジ軸１２への伝動経路Ｄのどこでもよい。更に、ギヤカップリングを設けずに、ギヤ等の伝動部材、又はギヤ（伝動部材）と軸との連結部分に緩衝部材を配置してもよい。 Incidentally, the cushioning material, said O is not limited to the ring 29 or rubber bush 29 2 may be imparted elasticity to the pin itself, also in the pin hole of the elastic member such as rubber bush fitting may be fixed. Further, the cushioning member may be another member such as a gear coupling 25 or the like provided with a relative rotating portion having a spring interposed therebetween, and the cushioning member may be arranged anywhere in the transmission path D from the motor 10 to the screw shaft 12. Further, a transmission member such as a gear or a cushioning member may be arranged at a connecting portion between the gear (transmission member) and the shaft without providing the gear coupling.

前記ネジ部１２ａ，１２ｂ及びナット部１４ａ，１４ｂは、通常の送りネジに限らず、ボールネジでもよく、またギヤ１８，２６は、ギヤ（歯車）に限らず、チェーン及びスプロケット等の他の伝動装置でもよい。 The screw portions 12a and 12b and the nut portions 14a and 14b are not limited to ordinary feed screws and may be ball screws, and the gears 18 and 26 are not limited to gears (gears) and are other transmission devices such as chains and sprockets. It may be.

１ 電動グリッパ
２ ケース
３ 上ケース
７ 把持部
１０ （ギヤ付きＤＣ）モータ
１０ａ 出力軸
１２ ネジ軸
１２ａ 左ネジ部
１２ｂ 右ネジ部
１４ａ 左ナット部
１４ｂ 右ナット部
１６ レール
１７ａ，１７ｂ リニアガイド
１８ ギヤ
２０ スケール
２１ エンコーダ
２５，２６ ２個の部材（ギヤカップリング、ギヤ）
２５ａ，２６ａ ピン孔
２７ ピン
２９，２９２ 緩衝部材（Ｏリング、ゴムブシュ）
Ｄ 伝動経路
Ｋ 衝撃荷重 1 Electric gripper 2 Case 3 Upper case 7 Grip part 10 (DC with gear) Motor 10a Output shaft 12 Thread shaft 12a Left thread part 12b Right thread part 14a Left nut part 14b Right nut part 16 Rail 17a, 17b Linear guide 18 Gear 20 Scale 21 Encoder 25,26 Two members (gear coupling, gear)
25a, 26a Pin hole 27 Pin 29,29 2 Buffer member (O-ring, rubber bush)
D Transmission path K Impact load

Claims (7)

モータの回転を、左ネジ部及び右ネジ部を有するネジ軸に伝動し、前記左ネジ部及び右ネジ部に直動案内される左ナット部及び右ナット部を螺合して、前記左ナット部及び右ナット部にそれぞれ把持部を設けた電動グリッパにおいて、
前記モータからネジ軸への伝動経路に、前記把持部が被把持部材を把持する把持力より大きな衝撃荷重を吸収する緩衝部材を介在する、
ことを特徴とする電動グリッパ。 The rotation of the motor is transmitted to the screw shaft having the left-hand thread portion and the right-hand thread portion, and the left nut portion and the right nut portion that are linearly guided by the left-hand thread portion and the right-hand thread portion are screwed together to screw the left nut portion and the right nut portion. In an electric gripper provided with a grip portion on each of the portion and the right nut portion,
A cushioning member that absorbs an impact load larger than the gripping force at which the gripped member grips the gripped member is interposed in the transmission path from the motor to the screw shaft.
An electric gripper that features that. 前記伝動経路に、相対回転可能に支持された２個の部材を隣接して配置し、前記２個の部材に形成したピン孔にピンを嵌挿して連結し、
前記ピンとピン孔との連結部分に前記緩衝部材を介在する、
請求項１記載の電動グリッパ。 Two members supported so as to be relatively rotatable are arranged adjacent to each other in the transmission path, and a pin is fitted and inserted into a pin hole formed in the two members to connect them.
The cushioning member is interposed at the connecting portion between the pin and the pin hole.
The electric gripper according to claim 1. 前記ピンの一方のピン孔部分に環状ゴム製の緩衝部材を被嵌して、前記衝撃荷重により該緩衝部材が前記ピンと一方のピン孔との間で変形して、該衝撃荷重を吸収してなる、
請求項２記載の電動グリッパ。 A cushioning member made of annular rubber is fitted to one pin hole portion of the pin, and the cushioning member is deformed between the pin and one pin hole by the impact load to absorb the impact load. Become,
The electric gripper according to claim 2. 前記環状ゴム製の緩衝部材がＯリングである、
請求項３記載の電動グリッパ。 The annular rubber cushioning member is an O-ring.
The electric gripper according to claim 3. ケースに、前記モータ及び前記ネジ軸を平行に配置し、
前記モータの出力軸と前記ネジ軸とを、前記ケースの一側方に配置した前記伝動経路で連動し、
前記２個の部材は、前記モータの出力軸に固定されたギヤカップリングと前記ネジ軸に設けられたギヤに噛合するギヤとからなる、
請求項２ないし４のいずれか１項記載の電動グリッパ。 The motor and the screw shaft are arranged in parallel on the case, and the motor and the screw shaft are arranged in parallel.
The output shaft of the motor and the screw shaft are interlocked with each other by the transmission path arranged on one side of the case.
The two members include a gear coupling fixed to the output shaft of the motor and a gear that meshes with a gear provided on the screw shaft.
The electric gripper according to any one of claims 2 to 4. 前記左ナット部及び右ナット部のいずれか一方にスケールを固定し、前記モータ及びネジ軸を収納するケースに、前記スケールを検出し得るエンコーダを配置してなる、
請求項１ないし５のいずれか１項記載の電動グリッパ。 The scale is fixed to either the left nut portion or the right nut portion, and an encoder capable of detecting the scale is arranged in a case for accommodating the motor and the screw shaft.
The electric gripper according to any one of claims 1 to 5. 前記モータを前記ケースの上側に配置し、前記ネジ軸を前記ケースの下側に配置し、
前記ケースの上側に配置した前記モータを上ケースに挟込むようにして、該モータを設置し、
前記ケースの前記ネジ軸の下方にレールを配置し、前記左ナット部及び右ナット部に、それぞれ前記レールに係合して直動案内するリニアガイドを固定してなる、
請求項５記載の電動グリッパ。 The motor is placed on the upper side of the case and the screw shaft is placed on the lower side of the case.
The motor is installed so that the motor arranged on the upper side of the case is sandwiched between the upper cases.
A rail is arranged below the screw shaft of the case, and linear guides that engage with the rail and guide linear motion are fixed to the left nut portion and the right nut portion, respectively.
The electric gripper according to claim 5.
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102438412B1 (en) * 2022-08-01 2022-08-30 권영문 Precision micro gripper using low-cost moving module

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5147690A (en) * 1975-01-31 1976-04-23 Masato Aiura HOBUBANYOKATSUPURINGU
JPS55151772U (en) * 1980-04-23 1980-11-01
JPH0674291U (en) * 1993-03-30 1994-10-21 新キャタピラー三菱株式会社 Robot work hand device
JP2009078312A (en) * 2007-09-25 2009-04-16 Seiko Epson Corp Articulated robot hand and articulated robot using the same
DE102016111125A1 (en) * 2016-06-17 2017-12-21 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik gripping device

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5147690A (en) * 1975-01-31 1976-04-23 Masato Aiura HOBUBANYOKATSUPURINGU
JPS55151772U (en) * 1980-04-23 1980-11-01
JPH0674291U (en) * 1993-03-30 1994-10-21 新キャタピラー三菱株式会社 Robot work hand device
JP2009078312A (en) * 2007-09-25 2009-04-16 Seiko Epson Corp Articulated robot hand and articulated robot using the same
DE102016111125A1 (en) * 2016-06-17 2017-12-21 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik gripping device

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102438412B1 (en) * 2022-08-01 2022-08-30 권영문 Precision micro gripper using low-cost moving module

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