JPH0224084A - Parallel opening/closing hand - Google Patents
Parallel opening/closing handInfo
- Publication number
- JPH0224084A JPH0224084A JP16959388A JP16959388A JPH0224084A JP H0224084 A JPH0224084 A JP H0224084A JP 16959388 A JP16959388 A JP 16959388A JP 16959388 A JP16959388 A JP 16959388A JP H0224084 A JPH0224084 A JP H0224084A
- Authority
- JP
- Japan
- Prior art keywords
- piezoelectric element
- fingers
- finger
- closing
- spring
- 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
- 238000006073 displacement reaction Methods 0.000 description 5
- 230000004044 response Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004043 responsiveness Effects 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
Description
この発明は、産業用ロボットなどに用いられ、前後に開
閉する互いに平行な一対のフィンガの間に物を挾んで把
持する平行開閉ハンドに関する。The present invention relates to a parallel opening/closing hand used in industrial robots and the like, which grips an object by sandwiching it between a pair of mutually parallel fingers that open and close back and forth.
この種の平行開閉ハンドにおいて、フィンガを駆動する
駆動源としては空気圧が多く用いられているが、また油
圧を用いたものもある。In this type of parallel opening/closing hand, pneumatic pressure is often used as the drive source for driving the fingers, but there are also some that use hydraulic pressure.
ところが、空気圧あるいは油圧を用いた平行開閉ハンド
は圧力発生用のコンプレッサやポンプ、さらに圧力伝達
用のチューブなどが必要で装置が複雑となり、それに伴
って部品点数が増え、重量も重くなる。この種のハンド
はアームの先端に取り付けられ、オーバーハングした位
置で使用されることが多いので、できるだけ構造が簡単
で、小型、軽量であることが望まれる。また、空気圧や
油圧は応答性が遅（、さらに変位の微調整が困難で把持
した物を損傷する恐れがあるという問題もあった。
この発明は、正負の直流電圧で駆動される圧電素子をア
クチュエータとして用いることにより上述問題点を解決
し、構造が簡単で小型、軽量であり、応答性が速く、ま
たフィンガの開閉ストロークや把持力を微妙に調整でき
る平行開閉ハンドを提供することを目的とするものであ
る。However, parallel opening/closing hands that use pneumatic or hydraulic pressure require a compressor or pump to generate pressure, as well as tubes to transmit pressure, making the device complex, resulting in an increase in the number of parts and weight. Since this type of hand is attached to the tip of an arm and is often used in an overhanging position, it is desirable that the structure be as simple, small, and lightweight as possible. In addition, air pressure and hydraulic pressure have a slow response (furthermore, there is a problem that fine adjustment of displacement is difficult and there is a risk of damaging the gripped object.) This invention uses a piezoelectric element driven by positive and negative DC voltages. The purpose is to solve the above-mentioned problems by using it as an actuator, and to provide a parallel opening/closing hand that has a simple structure, is small, lightweight, has fast response, and can finely adjust the opening/closing stroke of the fingers and the gripping force. It is something to do.
電圧を印加することにより圧電素子に発生する歪み変位
によりフィンガをばね力に抗して駆動し物を把持する。
コンプレッサやチューブなどが不要で、圧電素子に印加
する電圧を制御することによりフィンガの開閉ストロー
クや把持力を自由に制御することができる。その応答速
度は極めて速く、また圧電素子の変位は非常に微小であ
るため、フィンガの開閉ストロークや把持力も微妙な調
整が可能となる。The strain displacement generated in the piezoelectric element by applying a voltage drives the fingers against the spring force to grip an object. There is no need for a compressor or tube, and by controlling the voltage applied to the piezoelectric element, the opening/closing stroke and gripping force of the fingers can be freely controlled. The response speed is extremely fast, and the displacement of the piezoelectric element is extremely small, making it possible to finely adjust the opening/closing stroke of the fingers and the gripping force.
第１図はこの発明の実施例の構成を示すものである。第
１図において、フレーム１には溝ｌａ内を転勤するガイ
ドローラ２を介して、互いに平行な一対のフィンガ３が
前後（矢印Ｐ方向）に開閉可能に支持されている。フレ
ーム１とフィンガ３の背面との間には、圧電セラミック
からなる積層型の圧電素子４がそれぞれ設けられ、また
フィンガ４間にはフィンガ４を開く方向に常時力を与え
、圧電素子４に初期荷重を加えるばね５が設けられてい
る。ばね５はフィンガ３と圧電素子４との間の遊隙を除
去する役目も果たしている。
このような構成において、電源６から圧電素子４に直流
電圧を印加すると、圧電素子４はばね５の力に抗して矢
印Ｑ方向に伸び、この伸び変位によりフィンガ４を閉じ
る方向に駆動する。これにより、フィンガ４は互いに接
近し、図示しない部品などのワークをその間に挟んで把
持する。
次に、圧電素子４に印加した電圧を除去すれば圧電素子
４は元に復し、フィンガ３はばね５に押し戻されて開き
、把持した物を放す。
以上の操作によりフィンガ３は開閉され、その開閉スト
ロークは圧電素子４に印加する電圧の大きさを制御する
ことにより１μｍのオーダで制御でき、またフィンガ３
の開閉速度も電圧印加速度を制御することにより容易に
制御できるため、被把持物をハンドリングする際、ソフ
トな接触を行うことができる。FIG. 1 shows the configuration of an embodiment of the invention. In FIG. 1, a pair of mutually parallel fingers 3 are supported on a frame 1 so as to be openable and closable back and forth (in the direction of arrow P) via a guide roller 2 that moves within a groove la. Laminated piezoelectric elements 4 made of piezoelectric ceramic are provided between the frame 1 and the back surfaces of the fingers 3, and a force is constantly applied between the fingers 4 in the direction of opening the fingers 4, so that the piezoelectric elements 4 are initially A loading spring 5 is provided. The spring 5 also serves to eliminate the play between the finger 3 and the piezoelectric element 4. In such a configuration, when a DC voltage is applied to the piezoelectric element 4 from the power source 6, the piezoelectric element 4 extends in the direction of the arrow Q against the force of the spring 5, and this elongation displacement drives the finger 4 in the closing direction. As a result, the fingers 4 approach each other and grip a workpiece such as a part (not shown) between them. Next, when the voltage applied to the piezoelectric element 4 is removed, the piezoelectric element 4 returns to its original state, the fingers 3 are pushed back by the spring 5 and open, and the gripped object is released. The fingers 3 are opened and closed by the above operations, and the opening/closing stroke can be controlled on the order of 1 μm by controlling the magnitude of the voltage applied to the piezoelectric element 4.
Since the opening/closing speed of the gripper can be easily controlled by controlling the voltage application acceleration, soft contact can be made when handling the gripped object.
この発明によれば、圧電素子をアクチュエータとして用
いることにより、平行開閉ハンドを構造が簡単で小型か
つ軽量とすることができる。また、圧電素子の印加電圧
を制御することにより、フィンガの開閉ストロークや把
持力を応答性良く制御することができ、しかも極めて微
妙な調整まで可能となる。According to this invention, by using a piezoelectric element as an actuator, the parallel opening/closing hand can be made simple in structure, small in size, and lightweight. Furthermore, by controlling the voltage applied to the piezoelectric element, the opening/closing strokes and gripping force of the fingers can be controlled with good responsiveness, and even extremely delicate adjustments can be made.
第１図はこの発明の実施例の構成図である。 ３・・・フィンガ、４・・・圧電素子、５・・・ばね。 第 １ 図 FIG. 1 is a block diagram of an embodiment of the present invention. 3...Finger, 4...Piezoelectric element, 5...Spring. Figure 1
Claims (1)
物を挟んで把持する平行開閉ハンドにおいて、フィンガ
が開く方向に常時力を与えるばねと、電圧を印加するこ
とにより発生する歪み変位により前記ばねの力に抗して
前記フィンガを閉じる方向に駆動する圧電素子とを設け
たことを特徴とする平行開閉ハンド。1) In a parallel opening/closing hand that grips an object by sandwiching it between a pair of mutually parallel fingers that open and close back and forth, the above-mentioned A parallel opening/closing hand comprising: a piezoelectric element that drives the fingers in a closing direction against the force of a spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16959388A JPH0224084A (en) | 1988-07-07 | 1988-07-07 | Parallel opening/closing hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16959388A JPH0224084A (en) | 1988-07-07 | 1988-07-07 | Parallel opening/closing hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0224084A true JPH0224084A (en) | 1990-01-26 |
Family
ID=15889363
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP16959388A Pending JPH0224084A (en) | 1988-07-07 | 1988-07-07 | Parallel opening/closing hand |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0224084A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014102109A (en) * | 2012-11-19 | 2014-06-05 | Tmc System Kk | Precision fine sliding test machine |
| JP2019107714A (en) * | 2017-12-15 | 2019-07-04 | 豊田合成株式会社 | Robot hand |
-
1988
- 1988-07-07 JP JP16959388A patent/JPH0224084A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014102109A (en) * | 2012-11-19 | 2014-06-05 | Tmc System Kk | Precision fine sliding test machine |
| JP2019107714A (en) * | 2017-12-15 | 2019-07-04 | 豊田合成株式会社 | Robot hand |
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